http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Control of Mobile Manipulator for Tracking Vertical Smooth Welding Trajectory
트란디엔푹(Thien Phuc Tran),충탄람(Tan Lam Chung),김학경(Hak Kyeong Kim),김상봉(Sang Bong Kim),오명석(Myung-Suck Oh) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
This paper proposed an adaptive controller based on the back stepping concept for a two-wheel welding mobile manipulator to track a smooth curved welding path in vertical. To design a tracking controller, the tracking errors are defined between the welding point of torch and the reference point moving at a specified constant welding speed on a vertical welding path. The error for auxiliary velocity is also concerned in controller design. Both kinematic and dynamic modelings of the mobile manipulator are introduced. It is assumed for tracking controller design that the platform moves on the path paralleled for y-z plane. So, the velocity component on x-direction of the welding point equals to zero in spite of the rotation of the manipulator links. The simulations are performed to show the effectiveness of the proposed controller.