Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2023-05-19T04:56:13Z | - |
dc.date.available | 2023-05-19T04:56:13Z | - |
dc.date.issued | 2010-10 | - |
dc.identifier.citation | IEEE/ASME Transactions on Mechatronics, v. 15, NO. 5, article no. 5337898, Page. 819-826 | - |
dc.identifier.issn | 1083-4435;1941-014X | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/5337898 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/180904 | - |
dc.description.abstract | This paper describes a new trajectory planning method for the output tracking control of linear flexible systems; this method computes the exact solution of the equilibrium manifold. We establish a system of differential equations by combining kinematic and dynamic constraints and reformulate them in a singularly perturbed dynamics to obtain the equilibrium manifold in the form of an infinite series, which is our planned trajectory. We show that for the desired output defined by exponential functions, the equilibrium manifold becomes a converging geometric series that has a succinct form of summation. In addition, the inverse torque, which is the feedforward command, is easily produced by using the computed exact equilibrium manifold. We validate the effectiveness of the proposed method through simulations and experimental studies using a single-link flexible arm. | - |
dc.description.sponsorship | This work was supported in part by the Korea Research Foundation under Grant H00006, in part by the Ministry of Knowledge Economy under the Human Resources Development Program for Convergence Robot Specialists, in part by the National Research Foundation under Grant 2009-0093667, and in part by the Ministry of Knowledge Economy and Korea Institute for Advancement in Technology through the Workforce Development Program in Strategic Technology, Korea. | - |
dc.language | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.subject | Dynamic inversion | - |
dc.subject | equilibrium manifold | - |
dc.subject | flexible systems | - |
dc.subject | singular perturbation | - |
dc.subject | trajectory planning | - |
dc.title | A Trajectory Planning Method for Output Tracking of Linear Flexible Systems Using Exact Equilibrium Manifolds | - |
dc.type | Article | - |
dc.relation.no | 5 | - |
dc.relation.volume | 15 | - |
dc.identifier.doi | 10.1109/TMECH.2009.2034261 | - |
dc.relation.page | 819-826 | - |
dc.relation.journal | IEEE/ASME Transactions on Mechatronics | - |
dc.contributor.googleauthor | Choi, Youngjin | - |
dc.contributor.googleauthor | Cheong, Joono | - |
dc.contributor.googleauthor | Moon, Hyungpil | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 로봇공학과 | - |
dc.identifier.pid | cyj | - |
dc.identifier.article | 5337898 | - |
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