대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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양팔 로보트의 제어에 관한 연구

A study on Control of a Dual-arm Robot

  • Kim, Jong-Hyun (Department of Electrical Engineering, Yeungnam University) ;
  • Kim, Jong-Sam (Department of Electrical Engineering, Yeungnam University) ;
  • Park, Man-Sik (Department of Electrical Engineering, Yeungnam University) ;
  • Lee, Suck-Gyu (Department of Electrical Engineering, Yeungnam University) ;
  • Bae, Jin-Ho (Department of Electrical Engineering, Yeungnam University)
  • 발행 : 1991.07.18
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초록

Coordinated motion control of two arms of a dual-arm robot has been studied by many researchers, because of it's potential application in assembly as well as the handling of large and heavy objects beyond the capacity of single arm. This paper derives dynamic equation of a dual-arm robot, and describes some constrains to pick up a simply shaped object at prespecified position on it. This paper concludes with describing both PD and self-tunning control algorithm for the above task.

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