Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Hybrid Tension/Mobile Control of working Robot for Installed Troy Cable

전동차 트로이선 가설 작업로봇의 장력/이동의 혼합제어

  • 박종일 (부경대학교 전기제어계측 공학부) ;
  • 정승환 (부경대학교 전기제어계측 공학부) ;
  • 홍정표 (부경대학교 전기제어계측 공학부) ;
  • 홍순일 (부경대학교 전기제어계측 공학부)
  • Published : 2007.07.18
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Abstract

In this paper, an approach to designing controllers for dynamic hybrid Tension/Mobile control of a installed robot for a troy wire cable is presented. Mobile control system of robot is designed based on equation of dc motor and tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a wire cable. Dynamic hybrid control system is proposed by feedforward controller with acceleration and tension at start of robot to the case where the tow task of robot dynamics is suppressed a mutual interference. The proposed system is simulated and experimented, results is verified the utilities.

Keywords