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임피던스 제어를 통한 와이어 플라잉 시스템의 충격력 최소화

Title
임피던스 제어를 통한 와이어 플라잉 시스템의 충격력 최소화
Other Titles
Minimization of Impact Force Of Wire Flying System Using Impedance Control
Author
박종현
Keywords
와이어 플라잉 시스템; 바이페드 로봇; 임피던스 제어; 충격힘; 공연; Wire Flying System; Biped Robot; Impedance Control; Impact Force; Performance
Issue Date
2011-05
Publisher
제어로봇시스템학회
Citation
제어로봇시스템학회 논문집, 2011, 5, P.730-734(5)
Abstract
This paper proposes Four-Cable-Wire Flying System. When this system performs with hanging biped robot, it is possible to bump into unexpected obstacles or contact to walls or bottom unknown location, resulting in large contact force. Impedance control is proposed to alleviate this contact force. In this work, the impedance control was applied at the level of motion of the bipled robot and the motion of the wires. The comparisons of two different schems are discussed.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02034171http://hdl.handle.net/20.500.11754/51786
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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