Design of a vibration suppression mechanism cfor the precise surveillance by a quadruped robot 정밀 정찰을 목적으로 하는 4족 보행 로봇을 위한 머리모듈 진동저감 메커니즘 설계 연구

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Quadruped robots have been developed for various purposes including surveillance, transportation and the other service applications. However, the locomotion of a quadruped robot unavoidably accompanies translational and rotational vibrations at the robot body with multiple and varying frequency components. The vertical vibrations particularly deteriorate the surveillance accuracy of a quadruped robot. Therefore, this paper proposes a vibration suppression system of a quadruped robot for the purpose of precise surveillance. Based on the vibration analysis of a quadruped robot, called Cheetaroid-I Carrier, the proposed vibration suppression system is designed with a two-link manipulator in a bi-articular structure. The mechanical parameters of the proposed system, i.e., the frame lengths and the gravity spring constants, are optimally designed considering the vibration characteristics of the actual robot system. In the proposed system, a sky-hook controller is utilized to reject the vibration of an end-effector. The vibration suppression performance of the propose system is verified in both the time domain and the frequency domain.
Publisher
Institute of Control, Robotics and Systems journal@ijcas.com
Issue Date
2017-12
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.23, no.12, pp.1092 - 1100

ISSN
1976-5622
URI
http://hdl.handle.net/10203/250029
Appears in Collection
ME-Journal Papers(저널논문)
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