2차원 와이어 플라잉 시스템의 정밀한 위치제어를 위한 물제의 무게중심 변환

Title
2차원 와이어 플라잉 시스템의 정밀한 위치제어를 위한 물제의 무게중심 변환
Author
박종현
Keywords
Wire flying system; fuzzy control; parallel robot; Incompletely restrained mechanism; pendulum
Issue Date
2011-05
Publisher
제어로봇시스템학회 / Institute of Control, Robotics and Systems
Citation
제어로봇시스템학회 국내학술대회 논문집, 2011(5),720-723
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.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02034169
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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