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Anti-sway trajectory generation of incompletely restrained wire-suspended system

Title
Anti-sway trajectory generation of incompletely restrained wire-suspended system
Author
박종현
Keywords
Wire-suspended system; Incompletely restrained mechanism; Vibration; Input shaping; Anti-sway trajectory; VIBRATION; ROBOTS
Issue Date
2013-10
Publisher
KOREAN SOC MECHANICAL ENGINEERS, KSTC NEW BLD. 7TH FLOOR, 635-4 YEOKSAM-DONG KANGNAM-KU, SEOUL 135-703, SOUTH KOREA
Citation
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2013, 27(10), P.3171-3176
Abstract
Incompletely restrained wire-suspended system is difficult to control payload swaying. To resolve this problem, frequency characteristic of 2D wire-suspended system is investigated with analysis of dynamics. It is shown that the characteristics are related not only to the mechanical property, but also to the position of the payload in the workspace. To mitigate unwanted swaying of payload, anti-sway trajectory is generated with input-shaping of impulse accelerations based on the frequency characteristic analysis of the system. Experiment of a wire flying system with the vibration reduction trajectory shows the effects of the proposed method.
URI
http://link.springer.com/article/10.1007/s12206-013-0838-8http://hdl.handle.net/20.500.11754/44911
ISSN
1738-494X; 1976-3824
DOI
10.1007/s12206-013-0838-8
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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