서지주요정보
다자유도 로봇에서 NAC/TDC 를 이용한 뱅뱅 충돌제어의 응용 = Application of bang-bang impact control using NAC/TDC for multi degree of freedom robot
서명 / 저자 다자유도 로봇에서 NAC/TDC 를 이용한 뱅뱅 충돌제어의 응용 = Application of bang-bang impact control using NAC/TDC for multi degree of freedom robot / Maolin Jin.
저자명 Jin, Maolin
발행사항 [대전 : 한국과학기술원, 2004].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8014979

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 04081

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

리뷰정보

초록정보

This study presents experimental results for bang-bang impact control using NAC/TDC(NBBIC) for a multi DOF robot. It is observed that NBBIC can be successfully applied for multi degree of freedom robot despite the effect of nonlinear terms and dynamic coupling. This study presents experimental verification through 3 cases: free space motion, constrained motion and impact control. In constrained motion, the manipulator is commanded to follow small amplitude sinusoidal trajectory on the environment surface. In impact control, the manipulator is commanded to hit the environment at high speed while following a $5^{th}$ trajectory. The experimental results show that Under NBBIC, a multi DOF robot can successfully achieve desired interaction dynamics with one control algorithm without changing controller gains in all three modes: free space, transition and constrained motion. If a robot accidentally hits an environment with high approach velocity while following a desired trajectory or maneuvering around in free space, it can quickly alleviate impact oscillation via the bang-bang action of NAC/TDC. There are three thresholds in NBBIC algorithm, if the thresholds are not properly selected, they will deteriorate control performance. In order to remedy this problem, a method to choose NBBIC thresholds is proposed, and a guideline for experiment when applying NBBIC is described. It is shown via experiments that a robot can successfully work with only one control algorithm form free space to constrained motion under the bang-bang Impact control Using NAC/TDC when the gains and thresholds are properly selected.

서지기타정보

서지기타정보
청구기호 {MME 04081
형태사항 v, 49 p. : 삽도 ; 26 cm
언어 한국어
일반주기 지도교수의 한글표기 : 장평훈
공동교수의 한글표기 : 이은정
지도교수의 영문표기 : Pyung-H. Chang
공동교수의 영문표기 : E. Lee
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
주제 다자유도
NAC
TDC
뱅뱅
충돌제어
bang-bang
Impact Control
Natrual Admittance Control
Time Delay Control
Muti Degree of Freedom
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