여유구동형 병렬 로봇의 최적설계를 통한 기구학적 분석 및 제어에 관한 연구
- 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
- 이재원; 김병수[김병수]; 김영석[김영석]; 김진대[김진대]; 이혁진[이혁진]
- Parallel Robot (병렬 로봇); Workspace (작업 영역); Feedforward Control (피드포워드 제어); Motion Control (모션 제어); Redundant Actuator (여유도 구동기)
- Issue Date
- 한국정밀공학회지, v.29, no.4, pp.426 - 432
- 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.
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