The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Design on the Controller of Flexible Robot using Sliding Sector Control

슬라이딩 섹터 제어를 이용한 유연한 로봇 팔에 대한 제어기 설계

  • 한종길 (한려대학교 멀티정보통신과) ;
  • 배성환 (한려대학교 멀티정보통신과) ;
  • 양근호 (한려대학교 멀티정보통신과)
  • Received : 2010.08.06
  • Accepted : 2010.10.15
  • Published : 2010.10.31
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Abstract

When a flexible arm is rotated by a motor about an joint axis, transverse vibration may occur. The motor torque should be controlled in such a way that the moter rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, the dynamic model of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Nonlinear control with hysteresis deadzone using the sliding sector theory with continued input function in the sector is proposed.

유연한 로봇팔은 모터에 의해 관절 축을 회전할 때 진동이 발생한다. 유연한 팔이 원하는 각으로 회전하면서 동시에 팔 끝의 진동이 안정화되도록 제어하였다. 본 논문에서 유연한 로봇팔의 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, 섹터 내부에 연속입력함수를 가진 슬라이딩 섹터이론을 이용하여 히스테리시스 사구간을 가진 비선형 제어기를 제안한다.

Keywords

References

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