The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Deterministic Nonlinear Control of Two-Link Flexible Arm

2관절 유연한 로봇 팔에 대한 비선형 제어

  • 한종길 (한려대학교 멀티미디어정보통신공학과) ;
  • 손영수 (한려대학교 멀티미디어정보통신공학과)
  • Received : 2009.07.15
  • Accepted : 2009.09.07
  • Published : 2009.09.30
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Abstract

When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}$-2C is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed. Lyapunov stability theory is applied to achieve a stable deterministic nonlinear controller for the regulation of joint angle.

2관절 유연한 로봇 팔는 관절 축을 회전할 때 진동이 발생한다. 본 논문에서는 유연한 로봇팔의 진동 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, $\dot{D}$-2C가 skew symmetric이다는 사실을 사용하여 계산량을 줄이는 단순한 구조의 새로운 제어기를 제안한다. Lyapunov 안정도 이론은 관절을 조절하기 위한 안정한 확정적인 비선형 제어기를 성취하기 위하여 적용된다.

Keywords

References

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