지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 949 - 958 (10page)
이용수
초록· 키워드
오류제보하기
Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.
목차
등록된 정보가 없습니다.
참고문헌 (18)
참고문헌 신청
1. [단행본] - Lewis, F. L / 1993 / Control of Robotic Manipulators / MacMillan
2. [학술지(정기간행물)] - Lawrence, D. A. / 1993 / Stability and Transparency in Bileteral Teleoperation / Robot and Automation 9 (5) : 624 ~ 637
3. [학술대회논문] - Chopra, N. / 2004 / On Position Tracking in Bilateral Teleoperation / Proc. of the 2004 American Control Conference : 5244 ~ 5249
4. [학술지(정기간행물)] - Gang, G. / 2000 / Speed Control of Two-Inertia System by PI/PID Control / Industrial Electronics 47 (3) : 603 ~ 609
6. [학술지(정기간행물)] - Zhang, G. / 2000 / Speed Control of Two-inertia System by PI/PID Control / IEEE Trans. on Industrial Electronics 47 (3) : 603 ~ 609
2. [학술지(정기간행물)] - Lawrence, D. A. / 1993 / Stability and Transparency in Bileteral Teleoperation / Robot and Automation 9 (5) : 624 ~ 637
3. [학술대회논문] - Chopra, N. / 2004 / On Position Tracking in Bilateral Teleoperation / Proc. of the 2004 American Control Conference : 5244 ~ 5249
4. [학술지(정기간행물)] - Gang, G. / 2000 / Speed Control of Two-Inertia System by PI/PID Control / Industrial Electronics 47 (3) : 603 ~ 609
6. [학술지(정기간행물)] - Zhang, G. / 2000 / Speed Control of Two-inertia System by PI/PID Control / IEEE Trans. on Industrial Electronics 47 (3) : 603 ~ 609
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