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Kanokrat Saeheng. Real-time reference position shaping to reduce vibration in slewing of a very-flexible-joint robot. (). มหาวิทยาลัยเกษตรศาสตร์ สำนักหอสมุด. : , 2009.
Real-time reference position shaping to reduce vibration in slewing of a very-flexible-joint robot
Name: Withit Chatlatanagulchai
Organization :
Kasetsart University, Bangkok (Thailand). Faculty of Engineering. Department of Mechanical Engineering. Control of Robot and Vibration Laboratory
Name: Kanokrat Saeheng
Organization :
Kasetsart University, Bangkok (Thailand). Faculty of Engineering. Department of Mechanical Engineering. Control of Robot and Vibration Laboratory
Abstract:
Very-flexible-joint robot is a manipulator in which a soft spring is placed at its joint to reduce damage in case of collision. Despite this benefit, slewing of this robot is less accurate because of the link vibration. The convolution between the reference position and a properly designed impulse sequence produces an input that cancels residual vibration resulting in smoother robot motion. The convolution can be done in real time; the technique is then suitable for human-operated machine such as construction crane and teleoperated boom. In this paper, we apply this technique to a laboratory-scale human-operated very-flexible-joint robot with excellent vibration-attenuated results.
มหาวิทยาลัยเกษตรศาสตร์ สำนักหอสมุด
Address:
กรุงเทพฯ
Created:
2009
Issued:
2014-04-25
Modified:
2014-04-25
บทความ/Article
application/pdf
URL: http://www.lib.ku.ac.th/KU/2556/jretv006n001a002.pdf
Journal of Research in Engineering and Technology (Thailand), ISSN 1686-1590, Jan-Mar 2009, v. 6, no. 1, p. 51-66
eng
©copyrights Kasetsart University
RightsAccess:
ใช้เวลา
0.034233 วินาที
Withit Chatlatanagulchai
Kanokrat Saeheng
| Title | Contributor | Type |
|---|---|---|
| Real-time reference position shaping to reduce vibration in slewing of a very-flexible-joint robot
มหาวิทยาลัยเกษตรศาสตร์ Withit Chatlatanagulchai;Kanokrat Saeheng | Kasetsart University, Bangkok (Thailand). Faculty of Engineering, Research & Academic Service Division | บทความ/Article |
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| Real-time reference position shaping to reduce vibration in slewing of a very-flexible-joint robot
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