한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

유사 역행렬을 이용한 여유자유도 3차원 유연 매니퓰레이터의 위치 및 진동제어

Position and Vibration Control of a Spatial Redundant Flexible Manipulator by using Pseudo-inverse of Jacobian

  • 김진수 (전주대학교 공학부 기계공학전공)
  • 발행 : 2001.12.01
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초록

In this paper, by using pseudo-inverse matrix of the spatial redundant flexible manipulators, a position control method and its effect in vibration suppression was presented. Vibration suppression control was developed using lumped mass spring model of the flexible manipulators. With 2 elastic links and 7 rotory joint manipulator ADAM, (1)position control for no redundancy, and (2)position control for one redundant DOF(degree of freedom) were tested. The objective of this experiment is to show the effect of position control, using pseudo-inverse matrix. toward the improvement of operation, and at the same time, to reduce the vibration of the link and the magnitude of the joint torque.

키워드

참고문헌

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