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Control of Impact Disturbance by Redundantly Actuated Mechanism

Title
Control of Impact Disturbance by Redundantly Actuated Mechanism
Author
이병주
Issue Date
2001-05
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), v. 4, page. 3734-3741
Abstract
When a robot system collides with its environment, unexpected position errors occur due to the effect of impact. Large actuation effort may grow up to compensate for these errors. The sudden increases of actuator torque may violate the torque limit. We propose to employ a redundant actuation mode to facilitate disturbance rejection. An optimal load distribution algorithm for redundantly actuated system is introduced to reduce the effect of shocks. This scheme distributes the compensating effort to the system actuators in consideration of the torque limit. The disturbance rejection capability of the proposed scheme is compared with those of other load distribution methods by simulation and experiment. A five-bar mechanism is employed as an exemplary plant.
URI
https://ieeexplore.ieee.org/document/933199https://repository.hanyang.ac.kr/handle/20.500.11754/158554
ISBN
0-7803-6576-3
ISSN
1050-4729
DOI
10.1109/ROBOT.2001.933199
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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