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와이어-서스펜디드 시스템의 동역학 기반 2차원 진동 감소 궤적 생성

Title
와이어-서스펜디드 시스템의 동역학 기반 2차원 진동 감소 궤적 생성
Other Titles
Vibration Reduction Trajectory Generation for a Wire-Suspended System Based on 2D Dynamics
Author
박종현
Keywords
Wire System; Payload; Natural Frequency; Vibration; Trajectory; Input Shaping
Issue Date
2011-05
Publisher
제어로봇시스템학회 / Institute of Control, Robotics and Systems
Citation
제어로봇시스템학회 국내학술대회 논문집, Vol.2011 No.5 [2011], 724-729(6쪽)
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.
URI
http://www.dbpia.co.kr/Article/NODE02034170
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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