서지주요정보
최적화 기법을 이용한 매니퓨레이터 조인트 마찰력 규명 및 실험적 검증 = Manipulator joint friction identification using optimization technique and its experimental verification
서명 / 저자 최적화 기법을 이용한 매니퓨레이터 조인트 마찰력 규명 및 실험적 검증 = Manipulator joint friction identification using optimization technique and its experimental verification / 김경호.
저자명 김경호 ; Kim, Gyeong-Ho
발행사항 [대전 : 한국과학기술원, 1998].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8008560

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 98008

휴대폰 전송

도서상태

이용가능

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반납예정일

초록정보

Like many other mechanical dynamic systems, flexible manipulator systems experience stiction or sticking friction, which may cause input-dependent instabilities. Manipulator performance can be enhanced by including friction forces. But it is hard and expensive to measure friction directly. This work addresses the problem of identifying flexible manipulator joint friction using the technique suggested by Cheok in 1988. A dynamic model of a two-link flexible manipulator based upon finite element and Lagrange's methods is constructed. The dynamic model includes the effects of joint compliances and actuator dynamics. Friction is also incorporated in the dynamic model in order to account for stick-slip at the joints. Next, the friction parameters in the model are determined. The identification problem is posed as an optimization problem to be solved using nonlinear programming methods. A genetic algorithm is used to improve the convergence rate and to raise the chances of finding the global optimum. The identified friction parameters are experimentally verified and it is expected that the identification technique is applicable to a system parameter identification problem associated with a wide class of nonlinear systems.

서지기타정보

서지기타정보
청구기호 {MME 98008
형태사항 v, 56 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Gyeong-Ho Kim
지도교수의 한글표기 : 박윤식
지도교수의 영문표기 : Youn-Sik Park
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 55-56
주제 유연한 매니퓨레이터
마찰력 규명
최적화 문제
Flexible manipulator
Friction identification
Optimization problem
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