대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)
- 제20권10호
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- Pages.3186-3198
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- 1996
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
$\mu$ -합성법에 의한 유연한 조작기의 위치 및 진동제어
Position and Vibration Control of a Flexible Manipulator Using $\mu$ -Synthesis
- Park, No-Cheol (Dept.of Mechanical Engineering, Graduate School of Yonsei University) ;
- Yang, Hyun-Seok (Dept.of Mechanical Engineering, Yonsei University) ;
- Park, Young-Pil (Dept.of Mechanical Engineering, Yonsei University)
- 발행 : 1996.10.01
초록
When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.
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