2자유도 로봇의 관절외란해석과 응용

• 영문명: Joint disturbance torque analysis for 2 DOF robots and its application
• 발행기관: 강원대학교 산업기술연구소
• 저자명: 최명환(Choi Myoung Hwan)
• 간행물 정보: 『산업기술연구』vol.18, 1~5쪽, 전체 5쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 1998.09.30

영문 초록

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed-high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

목차

Abstract

1. 서론

2. 2-자유도 로봇 팔의 관절 외란식

3. 최소관절외롼을 위한 최적경로위치 문제

4. 시뮬레이션 결과

5. 결론

참고문헌

키워드

관절서보제어 관절외란토오크 독립관절제어 최적경로지정 Joint disturbance torque Joint servo control Optimal path placement