DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 유지환 | - |
dc.contributor.author | Baek, Seungjoon | - |
dc.contributor.author | 백승준 | - |
dc.date.accessioned | 2024-07-26T19:31:20Z | - |
dc.date.available | 2024-07-26T19:31:20Z | - |
dc.date.issued | 2022 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1051093&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/321073 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2022.2,[vii, 102 p. :] | - |
dc.description.abstract | This thesis covers the modeling and analysis of the dynamic relationship between the link space and the motor space of the twisted string actuator system and its control methodology by breaking away from the conventional kinematics model and employing the static model. The static model allows it possible to analyze which procedure between the motor and link space propagates the torque of motor to tension in the link space through the twisted string actuator which cannot be explained in the kinematic model. Then, we design the dynamic model of twisted string actuator system using force components derived from static model and propose design methodology of dynamic based adaptive tension controller. The twisted string actuator also has variable stiffness property depending on the state of the motor and link. Then, we analyze the variable stiffness property. And based on its results, we propose the design methodology of bidirectional position and stiffness controller. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | 줄꼬임 구동기▼a로봇을 위한 새로운 구동기▼a링크강성제어▼a관절강성제어▼a여유자유도 시스템 | - |
dc.subject | Twisted string actuator▼aNew actuators for robotics▼aLink stiffness control▼aJoint stiffness control▼aRedundant system | - |
dc.title | Bidirectional position and stiffness control of twisted string actuators | - |
dc.title.alternative | 줄꼬임 구동기의 양방향 위치 및 강성제어 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :로봇공학학제전공, | - |
dc.contributor.alternativeauthor | Ryu, Jee-Hwan | - |
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