서지주요정보
발란스된 로보트의 동특성 및 제어에 관한 연구 = A study on dynamic characteristics and control of a balanced robotic manipulator
서명 / 저자 발란스된 로보트의 동특성 및 제어에 관한 연구 = A study on dynamic characteristics and control of a balanced robotic manipulator / 안무승.
저자명 안무승 ; Ahn, Mu-Seung
발행사항 [서울 : 한국과학기술원, 1984].
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소장정보

등록번호

4102718

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 8406

SMS전송

도서상태

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초록정보

The handling mass of a conventional robot is limited very small compare to the mass of the robot body, because the handling mass get the dynamic characteristics of the robot be highly coupled, time varying, and nonlinear characteristics. Also, in case of tracking application, operating speed of the conventional robot is low, because the assumption that the terms of centrifugal torque and coriolis torque is small violated. A new method, "Mechanical Balancing", is proposed to handle the larger payload. The effectiveness of mechanical balancing is studied by investigating the open loop dynamic characteristic of the balanced robot and the conventional robot for the various operating speeds and the various masses of payload. A new control algorithm based on the linearized control theory which satisfies the stability, "Pixelized Linear State Feedback Control", is introduced in order to be able to real time application. The effectiveness of the new control algorithm is studied by investigating the maximum tracking error and the final positioning error of the previous two kinds of robots for the various operating speeds and the various masses of payload. In the case study, the simplified model of PUMA 600 is used.

서지기타정보

서지기타정보
청구기호 {MPE 8406
형태사항 iv, 86 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : A-1, Unbalanced 씨스템의 안정성 증명. - A-2, Balanced 씨스템의 안정성 증명
저자명의 영문표기 : Mu-Seung Ahn
지도교수의 한글표기 : 이종원
지도교수의 영문표기 : Chong-Won Lee
학위논문 학위논문(석사) - 한국과학기술원 : 생산공학과,
서지주기 참고문헌 : p. 39-41
주제 Balance weights (Machinery)
Robotics.
Nonlinear mechanics.
비선형 시스템. --과학기술용어시소러스
로봇. --과학기술용어시소러스
동적 모델. --과학기술용어시소러스
피드백 제어. --과학기술용어시소러스
Robots --Control systems.
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