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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