공압 서비스 로봇(pneumatic scrivce robot); 하이브리드형 로봇(hybrid type robot); 슬라이딩 모드 제어(sliding mode control)
Issue Date
2001-11
Publisher
대한기계학회
Citation
대한기계학회 2001년 춘추학술대회, v. 2, no. 1, page. 686-691
Abstract
In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weighl and payload-lo-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new sci.ial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, wc can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, tlie pneumatic service robot is evaluated and verified.