와이어-서스펜디드 시스템의 동역학 기반 2차원 진동 감소 궤적 생성Vibration Reduction Trajectory Generation for a Wire-Suspended System Based on 2D Dynamics
- Other Titles
- Vibration Reduction Trajectory Generation for a Wire-Suspended System Based on 2D Dynamics
- Authors
- 박재환; 박종길; 최시명; 권오흥; 원대희; 박종현
- Issue Date
- May-2011
- Publisher
- 제어로봇시스템학회
- Keywords
- Wire System; Payload; Natural Frequency; Vibration; Trajectory; Input Shaping
- Citation
- 제어로봇시스템학회 국내학술대회 논문집, no. , pp.724 - 729
- Indexed
- OTHER
- Journal Title
- 제어로봇시스템학회 국내학술대회 논문집
- Start Page
- 724
- End Page
- 729
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/168378
- Abstract
- Wire-suspended system is a system controlling position and orientation of a payload tied up by wires. Incompletely restrained wire mechanism is difficult to control its vibration as some of the degrees of freedom are not linearly controllable by wire length change. It is shown that modifying trajectory of a payload with its natural frequency is an effective feed-forward vibration reduction method. Dynamic modeling and vibration frequency analysis of a 2D-3DOF wire system is discussed and generation of vibration reduction trajectory is proposed. Data from simulation show modified trajectory of a payload reduces its vibration effectively.
- Files in This Item
-
Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.