서지주요정보
레이트-자이로(rate-gyro)를 이용한 유연한 보의 능동 진동제어 = A study on the active vibration control of the flexible beam using rate-gyro
서명 / 저자 레이트-자이로(rate-gyro)를 이용한 유연한 보의 능동 진동제어 = A study on the active vibration control of the flexible beam using rate-gyro / 임준영.
저자명 임준영 ; Lim, Jun-Young
발행사항 [대전 : 한국과학기술원, 1990].
Online Access 제한공개(로그인 후 원문보기 가능)원문

소장정보

등록번호

8000582

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 9018

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

In recent years, there has been much interest in using light-weight, higher performance arms for both commercial and space-based application. The interest leads to the research of flexible manipulator. This paper is concerned with dynamic control to surppress vibrtions in precise positioning with consideration of the arm's flexibility. A single axis robot consisting of a flexible arm driven by a D.C servo motor and have in manipulating payloads as a rate gyro is considered. We first derive a partial differential equation and a set of boundary conditions governing the elastic vibration of complete dynamics of the robot. A finite-dimensional model is also developed from this model using the technique of model expantion. In this study, we design the controller which is presented for optimal regulation of the flexible arm to active desired angular rotation of the link while simultaneusly suppressing vibration. A rate gyro is used as a vibration sensor which is located a end effector. A predict type Kalmman-Filter is also designed to estimate all states. A set of experiment and simulation has been constructed to demonstrate control schemes for a single link flexible arm. We compare the simulation results with experimental result and can find good agreement.

서지기타정보

서지기타정보
청구기호 {MPE 9018
형태사항 [vi], 52 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Jun-Young Lim
지도교수의 한글표기 : 오준호
지도교수의 영문표기 : Jun-Ho Oh
학위논문 학위논문(석사) - 한국과학기술원 : 생산공학과,
서지주기 참고문헌 : p. 27-28
주제 Flexible structures.
Robots --Dynamics.
Robots --Control systems.
Vibration --Research.
액티브 제어. --과학기술용어시소러스
진동 완화. --과학기술용어시소러스
유연축. --과학기술용어시소러스
자이로스코프. --과학기술용어시소러스
로봇 팔. --과학기술용어시소러스
Rate gyroscopes.
QR CODE qr code