로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제12권1호
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  • Pages.1-10
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  • 2017
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지
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원격해체 작업을 위한 유압 시스템의 SPO 기반 반력 추정 및 힘 반향 양방향 원격제어

SPO based Reaction Force Estimation and Force Reflection Bilateral Control of Cylinder for Tele-Dismantling

  • Cha, Keum-Gang (School of Mechanical Engineering, Pusan National University) ;
  • Yoon, Sung Min (School of Mechanical Engineering, Pusan National University) ;
  • Lee, Min Cheol (School of Mechanical Engineering, Pusan National University)
  • 투고 : 2015.10.01
  • 심사 : 2016.10.31
  • 발행 : 2017.02.28
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초록

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

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참고문헌

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피인용 문헌

  1. Trajectory Tracking Control of Multi-DOF Robot without Considering System Dynamics vol.19, pp.9, 2017, https://doi.org/10.1007/s12555-020-0064-y