소형 굴삭기의 모델링을 통한 위치 및 힘제어 구현

다국어 초록 (Multilingual Abstract)

This paper presents the implementation and control of a small-scaled excavator system. The commercial miniature of an excavator system has been modified and its control hardware is embedded to access the feedback control. Encoder sensors are attached to the joint and a force sensor is mounted on the end-effector so that feedback position control is accessible as well as force control. The dynamic model of the excavator system is derived as a four linkage robot arm and its control performances are simulated. Experimental studies of contact force control tasks are conducted to test the control algorithm for the excavator system.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 소형 굴삭기 시스템
• III. 동역학 모델링
• IV. 제어 방식
• V. 시뮬레이션 및 실험
• VI. 결론
• REFERENCES

참고문헌 (Reference)

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2 김성근, "운전자의 작업행태를 고려한 지능형 굴삭기의 이동경로 생성 방법" 대한토목학회 30 (30): 433-442, 2010

3 진태석, "연마작업을 위한 로봇형 연마기의 힘제어 적용" 한국정보통신학회 18 (18): 276-281, 2014

4 백승준, "굴삭기용 무인조종로봇 신뢰성 보증 시험에 대한 연구" 대한기계학회 39 (39): 397-403, 2015

5 남윤주, "Virtual excavator simulator featuring HILS and haptic joysticks" 대한기계학회 29 (29): 397-407, 2015

6 I. K. Jeon, "Study on the remote control excavator for high-risk operations" 479-483, 2010

7 M. S. Oh, "Study on Experiment and implementation of Force control for an excavator system" 367-368, 2016

8 S. Jung, "Force tracking impedance control of robot manipulators under unknown environment" 12 (12): 474-483, 2004

9 최정주, "Development of a Miniaturized Automatic Excavator with Time-Varying Sliding Mode Controller" 한국산학기술학회 12 (12): 3391-3397, 2011

10 S. M. Moon, "Control algorithm for path generation of intelligent excavator system" 12 (12): 66-71, 2015

11 H. Cho, "Active pitch motion control of a hydraulic excavator" 681-686, 2002