한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)

  • 제22권6호
  • /
  • Pages.807-819
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  • 2019
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  • 1226-833X(pISSN)
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  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
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포크레인용 다관절 매니퓰레이터 어태치먼트 운동학 해석 및 모션제어

A Study on Motion Control and Kinematics Analysis of Articulated Manipulator Attachment for Excavator

  • 투고 : 2019.09.30
  • 심사 : 2019.11.22
  • 발행 : 2019.12.31
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초록

In this paper, it is proposed a new approach to motion control and kinematics analysis of articulated manipulator attachment with five degree of freedom for excavator. Unlike the well-established theory for the control of linear systems, there is little general control theory relatively for a robust control of nonlinear systems. The control technique is essential for providing a stable and robust performance for application of articulated manipulator control. The proposed control algorithm is one of robust control methods based on error informations of the position and velocity error informations using stability analysis of dynamic model. Through simulation test, the proposed control scheme is illustrated to be a efficient control technique for real-time control.

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참고문헌

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