서지주요정보
로버트 힘제어 : 실공간에서의 극점 배치법 = Robot force control pole placement in operational space
서명 / 저자 로버트 힘제어 : 실공간에서의 극점 배치법 = Robot force control pole placement in operational space / 성주현.
저자명 성주현 ; Sung, Ju-Hyun
발행사항 [대전 : 한국과학기술원, 1992
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소장정보

등록번호

8002813

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 92012

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초록정보

Dynamic response in force control is related to robot configurations and environment, so the feedback gains must be designed from robot-environment systems models in order to obtain the target dynamic response for all robot configurations. This paper has two parts, part-1 presents a pole placement technique for nonredundant robot, and part-2 discusses this for redundant robot. In part-1, To obtain the desired dynamic response, the feedback gains are formulated form of robot-environment systems models which are functions of robot configurations, and this pole placement technique is tested by simulation with simple robot system. Simulation exhibits good results of fitted pole placement, but command following error is produced by disturbance and modelling error. In part-2, Improving the problem of command following error, redundancy is used. A control law which controls null space motion for redundant robot is proposed, and this technique is tested by simulation with simple 3-d.o.f redundant robot systems. Desired null space motion and pole placement are adequated with this cotrol law, and the problem of command following error is improved to nonredundant case.

서지기타정보

서지기타정보
청구기호 {MPE 92012
형태사항 [iii], 53 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Ju-Hyun Sung
지도교수의 한글표기 : 장평훈
지도교수의 영문표기 : Pyung-H. Chang
학위논문 학위논문(석사) - 한국과학기술원 : 정밀공학과,
서지주기 참고문헌 : p. 30-32
주제 Redundancy (Engineering)
Feedback control systems.
Computer simulation.
힘 제어. --과학기술용어시소러스
로봇. --과학기술용어시소러스
여유 구동. --과학기술용어시소러스
궤한 제어. --과학기술용어시소러스
이동 제어. --과학기술용어시소러스
Robots --Control systems.
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