한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1991년도 추계학술대회 논문집
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- Pages.155-159
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- 1991
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- 2005-8446(pISSN)
병진 운동 탄성암의 선단 위치제어를 위한 역동역학
Inverse Dynamics for the Tip Position Control of the Transiational Motion Flexible Arm
초록
This paper is a study on the Inverse dynamics of a one-1ink flexible robot arm which is control led by the transiational base motion. The system is composed of the flexible arm, the mobil stage, a DC servomotor, and a computer. The arm base is shifted so that the tip follows a desired path function. The tip Rotten is measured by the laser displacement sensor. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method to the resulted equations. Tip responses obtained both theoretically and experimentally are in good agreement with the desired trajectory, which shows that the scheme of inverse dynamics is effective for the open-loop endpoint positioning of the flexible am driven by the translation stage.
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