Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Mobile Control of working robot for a Installed Trolley Cable

전동차 트로이선 가설 작업 로봇의 이동제어

  • 김실근 (부경대학교 전기제어공학부) ;
  • 홍순일 (부경대학교 전기제어공학부) ;
  • 홍정표 (동의과학대학)
  • Published : 2006.11.30
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Abstract

The aims of this study is to develop working robot for a installed trolley cable of an electric train and objective of this paper is to implement mobile control of working robot. In this paper an approach to method for scheme of a mobile control system is presented in a dynamic hybrid velocity/tension control of working robot. The working robot is composed the velocity and tension controllers using the concept of two-degrees-of-freedom servo-controller. This robot moved at same time a certain distance to constrain a constant tension and installed a trolley cable of an electric train. To move the robot the velocity control system have design and implemented. Simulation and experimental results are presented to illustrate the validity of designed mobil scheme.

Keywords

References

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