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http://dx.doi.org/10.21289/KSIC.2022.25.1.87

A Study on Dynamics Analysis and Position Control of 5 D.O.F. Multi-joint Manipulater for Uncontact Remote Working  

Kim, Hee-Jin (Dept. of Mechanical Engineering, Graduate School, Kyungnam Univ)
Jang, Gi-Wong (Dept. of Mechanical Engineering, Graduate School, Kyungnam Univ)
Kim, Seong-Il (Dept. of Mechanical Engineering, Graduate School, Kyungnam Univ)
Han, Sung-Hyun (Dept. of Mechanical Engineering, Kyungnam Univ)
Publication Information
Journal of the Korean Society of Industry Convergence / v.25, no.1, 2022 , pp. 87-99 More about this Journal
Abstract
We propoes a study on the dynamic characteristics analysis and position control of 5-degree multi-joint manipulators for untact remote working at construction sites and manufacturing plants. The main frame of freedom multi-joint manipulator consists of five elements, boom cylinder, boom cylinder, arm cylinder, bucket cylinder, and rotation joint and link. In addition, the main purpose of the proposed system is to realize the work of the manufacturing process or construction site by remote control. Motion control of the entire system is a servo valve control method by hydraulic servo cylinders for one to four joints, and a servo motor control method is applied for five joints. The reliability of the proposed method was verified through performance experiments by computer simulation.
Keywords
Five D.O.F.; Multi-joint Manipulater; Position Control; Servo Cylinder and Valve; Servo Motor; Untact Remote Working;
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