Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Position Control of Inspection Robot with Unknown Boom Vibration Using Fuzzy Controller

미지의 붐 진동을 위한 퍼지 제어기를 사용한 탐사 로봇의 위치 제어

  • Lee, Seung-Chul (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.) ;
  • Han, Byung-Jo (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.) ;
  • Park, Ki-Kwang (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.) ;
  • Jang, Gi-Ho (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.) ;
  • Yang, Hai-Won (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.)
  • 이승철 (한양대학교 전자전기제어계측공학과) ;
  • 한병조 (한양대학교 전자전기제어계측공학과) ;
  • 박기광 (한양대학교 전자전기제어계측공학과) ;
  • 장기호 (한양대학교 전자전기제어계측공학과) ;
  • 양해원 (한양대학교 전자전기제어계측공학과)
  • Published : 2008.10.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposed a robust controller in order to handle the boom vibration of inspection robot. While a inspection robot moves on boom with vibration by weight occurs. Therefore, Boom as structure like cantilever beam appears vibration by weight of inspection robot. The Z axis of inspection robot operates with Sliding structure. inspection robot is used "Fuzzy Controller" for position control with Z axis. The developed robot system is composed of the specially designed car for inspection robot. The proposed Fuzzy Controllers are used to track position reference signal of Z axis. A Experiment verify that the proposed Fuzzy Controller design method can achieve favorable control performance with regard to external disturbance.

Keywords