2차원 와이어 플라잉 시스템의 정밀한 위치제어를 위한 물제의 무게중심 변환

Abstract

This paper proposes a method for accurate position control of parallel robot named Wire Flying System. This system is an incompletely restrained mechanism which the number of degrees of freedom is more than constraints. The pendulum is hung to the payload in order to control accurate positions and desired angles. The fuzzy control has been used to change from the angle of the payload to desired angle which can change the center of mass to make it possible to control accurate position of the payload.