지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이용수
초록· 키워드
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In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and link-side dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.
목차
Abstract
1. 서론
2. 모터 동역학 재설정을 위한 IMFC 설계
3. 모터 외란에 대한 IMFC의 강인성
4. 유연관절로봇을 이용한 중력 하에서의 실험
5. 결론
References
참고문헌 (14)
참고문헌 신청
1. [학술지(정기간행물)] - C. Ott / 2008 / On the passivity based impedance control of flexible joint robots / IEEE Trans. Robot. 24 (2) : 416 ~ 429
2. [학술대회논문] - K.-P. Chen / 1989 / Nonlinear adaptive motion control for a manipulator with flexible joints / Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) : 1201 ~ 1206
3. [학술대회논문] - A. Albu-Schaffer / 2000 / State feedback controller for flexible joint robots: A globally stable approach implemented on DLR’s lightweight robots / Proc. IEEE Int. Conf. on Intelligent Robots and Systems (IROS) : 1087 ~ 1093
4. [학술대회논문] - Y. J. Park / 2012 / Development of Kalman filter based two-port body force observer for the flexible joint: Design and experiments / Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) : 2717 ~ 2722
5. [학술대회논문] - A. Albu-Schaffer / 2001 / Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot / Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) : 2852 ~ 2858
2. [학술대회논문] - K.-P. Chen / 1989 / Nonlinear adaptive motion control for a manipulator with flexible joints / Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) : 1201 ~ 1206
3. [학술대회논문] - A. Albu-Schaffer / 2000 / State feedback controller for flexible joint robots: A globally stable approach implemented on DLR’s lightweight robots / Proc. IEEE Int. Conf. on Intelligent Robots and Systems (IROS) : 1087 ~ 1093
4. [학술대회논문] - Y. J. Park / 2012 / Development of Kalman filter based two-port body force observer for the flexible joint: Design and experiments / Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) : 2717 ~ 2722
5. [학술대회논문] - A. Albu-Schaffer / 2001 / Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot / Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) : 2852 ~ 2858
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