여유구동형 병렬 로봇의 최적설계를 통한 기구학적 분석 및 제어에 관한 연구

Title
여유구동형 병렬 로봇의 최적설계를 통한 기구학적 분석 및 제어에 관한 연구
Other Titles
The Study of Kinematic Analysis and Control by Optimum Design of Redundantly Actuated Parallel Robot
Author(s)
이재원김병수[김병수]김영석[김영석]김진대[김진대]이혁진[이혁진]
Keywords
Parallel Robot (병렬 로봇); Workspace (작업 영역); Feedforward Control (피드포워드 제어); Motion Control (모션 제어); Redundant Actuator (여유도 구동기)
Issue Date
201204
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.29, no.4, pp.426 - 432
Abstract
In this study, kinematic analysis of forward kinematic, inverse kinematic and jacobian for 6-bar parallel robot was analyzed. In order to analyze the maximum workspace of 6-bar parallel robot,maximum revolution range of active joint was calculated. Also, to analyze forward dynamics and inverse dynamics of 6-bar parallel robot, recurdyn and simmechanics was utilized. Using a PI controller and Feedforward controller make an experiment with square motion of end_effector. The reference value of active joint and trace of end_effector were compared with actual experimental value.
URI
http://hdl.handle.net/YU.REPOSITORY/28506
ISSN
1225-9071
Appears in Collections:
공과대학 > 기계공학부 > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE