서지주요정보
케이블 메커니즘을 사용한 재활 로봇의 능동 컴플라이언스 제어 = Active compliance control for the rehabilitation robot with cable transmission
서명 / 저자 케이블 메커니즘을 사용한 재활 로봇의 능동 컴플라이언스 제어 = Active compliance control for the rehabilitation robot with cable transmission / 강상훈.
저자명 강상훈 ; Kang, Sang-Hoon
발행사항 [대전 : 한국과학기술원, 2002].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8012815

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 02072

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

In this study, Compliance Control Algorithm for Rehabilitation Robot (KARES II) and FIT sensor-less torque sensing method are developed and implemented. KARESII was designed to do 13 pre-defined tasks. Among the pre-defined tasks, there exist some contact tasks between robot and the disabled. Therefore, developing rehabilitation robot, compliance control is needed and is very essential. And from the viewpoint of cost, rehabilitation robot must be cheap enough for the disabled to buy it. So, not to raise the cost of the robot, development of FIT sensorless FIT sensing technique is needed. In this research, based on the analysis of contact task characteristics, logical compliance control algorithm is proposed. And using a well-known controller TDC, FIT sensor-less FIT sensing method is proposed. All these algorithm and method were combined and implemented to shaving task successfully.

서지기타정보

서지기타정보
청구기호 {MME 02072
형태사항 iv, 54 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Sang-Hoon Kang
지도교수의 한글표기 : 장평훈
지도교수의 영문표기 : Pyung-Hun Chang
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 52-54
주제 능동 컴플라이언스 제어
케이블 메커니즘
재활 로봇
시간 지연을 이용한 제어기법
접촉 힘 측정법
Active Compliance Control
F/T sensorless
Cable Mechanism
Time Delay Control
Rehabilitation Robot
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