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산업용 로봇의 유연관절 제어기 설계: Part 1- 2관성계 모델링Controller Design for Flexible Joint of Industrial Robots: Part 1- Modeling of the Two-Mass System
- Other Titles
- Controller Design for Flexible Joint of Industrial Robots: Part 1- Modeling of the Two-Mass System
- Issue Date
- Mar-2006
- Publisher
- 제어·로봇·시스템학회
- Keywords
- industrial robot; joint flexibility; two-mass system; reducers
- Citation
- 제어.로봇.시스템학회 논문지, v.12, no.3, pp 269 - 276
- Pages
- 8
- Indexed
- KCI
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 12
- Number
- 3
- Start Page
- 269
- End Page
- 276
- ISSN
- 1976-5622
2233-4335
- Abstract
- Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents the vibration mechanism of an industrial robot which has flexible joints. The joint flexibility of the robot is modeled as a two-mass system and its dynamic characteristics are analysed. And some characteristics of the two-mass system, especially for the joint of industrial robots, such as disturbance, non-linearity and time-varying characteristics are studied. And finally, some considerations on controller design for the flexible joint of industrial robots are discussed.
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Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
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