Journal of KSNVE (소음진동)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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Adaptive Vibration Control of Flexible One-Lind Manipulator

유연한 단일링크 조작기의 적응진동제어

  • 박영욱 (연세대학교 대학원, 기계공학과) ;
  • 김재원 (연세대학교 공과대학 기계공학과) ;
  • 박영필 (연세대학교 공과대학 기계공학과)
  • Published : 1995.09.01
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Abstract

Recently, since robot manipulator becomes faster and lighter, its link is no longer regarded as rigid body, and robot controller which only controls robot position cannot reduce vibration of the flexible link. Therefore vibration control is needed in robot manipulator control in addition to position control. In the case that tip mass changes when robot manipulator in working, it is clear that the efficiency of the vibration/position controller designed for the fixed system goes down. In this paper, the system with time varying parameters, adaptive control theory is adopted which estimates parameters changed by the variation of the tip mass and re-calculates the gain of the controller. Validify of the proposed adaptive controller and capability of the estimator are evaluated by computer simulations and experiments. Comparison results of the optimal controller for the fixed system and proposed adaptive controller and carried out.

Keywords

References

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