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Mobile Control of working robot for a Installed Trolley Cable  

Kim, Sil-Keun (부경대학교 전기제어공학부)
Hong, Soon-Ill (부경대학교 전기제어공학부)
Hong, Jeong-Pyo (동의과학대학)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.30, no.8, 2006 , pp. 934-940 More about this Journal
Abstract
The aims of this study is to develop working robot for a installed trolley cable of an electric train and objective of this paper is to implement mobile control of working robot. In this paper an approach to method for scheme of a mobile control system is presented in a dynamic hybrid velocity/tension control of working robot. The working robot is composed the velocity and tension controllers using the concept of two-degrees-of-freedom servo-controller. This robot moved at same time a certain distance to constrain a constant tension and installed a trolley cable of an electric train. To move the robot the velocity control system have design and implemented. Simulation and experimental results are presented to illustrate the validity of designed mobil scheme.
Keywords
A mobile control; Installed trolley cable; Working robot; An electric train;
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