Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 10 Issue 4
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- Pages.54-63
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- 1993
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Elastodynamic Control of Industrial Robotic Manipulators Using Piezoelectric Materials
압전재료를 이용한 산업용 로보트 매니퓰레이터의 동탄성 제어
- Choi, S.B. ;
- Cheong, C.C. ;
- Choi, I.S.Lee, T.H.
- 최승복 (인하대학교 기계공학과) ;
- 정재천 (인하대학교 기계공학과) ;
- 최인수이태훈 (인하대학교 대학원 기계공학과인하대학교 대학원 기계공학과)
- Published : 1993.12.01
Abstract
This paper presents the dynamic modeling and control methodology to arrest structural deflections of industrial robotic manipulators featuring elastic members retrofitted with surface bonded pizoelectric actuators and sensors. The cynamic modeling is accomplished by employing a variational theorem, prior to developing a finite element formulation. This finite element formulation accounts for both original robot member elements and also bonded piezoelectric material elements. The governing equation of motion is then modified by condensing the electric potential vectors and subsequently two different negative velocity feedback controllers are established; a constant-gain feedback controller and a constant- amplitude feedback controller. By adopting a Model P50 articulating industrial robot manufactured by Gerneral Electric Company, conputer simulations are underlaken in order to demonstrate superior performance characteristics to be accrued from this proposed methodology such as smaller deflections at the end-effector.
Keywords
- Piezoelectric Actuator and Sensor;
- Robotic Manipulator;
- Vibration Control;
- Variational Theorem;
- Finite Element Method
- 압전 작동기 및 감지기;
- 로보트 매니플레이터;
- 진동제어;
- 변분이론;
- 유한요소법;