슬라이딩 제어를 이용한 시간지연

• 영문명: Control of Visual Servoing System in a Manipulator by Using Sliding Mode Control in Time Delayed Situation
• 발행기관: 한국산업기술융합학회(구. 산업기술교육훈련학회)
• 저자명: 배동석(Dong-Seog Bae)
• 간행물 정보: 『산업기술연구논문지』산업기술교육훈련논문지 제22권 3호, 67~76쪽, 전체 10쪽
• 주제분류: 공학 > 산업공학
• 파일형태: PDF
• 발행일자: 2017.09.30

영문 초록

This paper proposes an attitude control of a visual servoing system in a manipulator to obtain a correct attitude under the situation with time delay. In this system, a stereo camera system has been used to perform object recognition and to detect joint angles of the manipulator which has 3 D.O.F. A sliding mode control method has been adopted to eliminate the problems that can be caused by the time delay. In order to use this control method, forward kinematics, inverse kinematics and dynamics of the manipulator have been derived. The advantage of the sliding mode controller is its robustness against system features and disturbances. Therefore the sliding mode controller has been properly utilized in this research for the attitude control of the visual servoing system in the manipulator. In order to verify the performance of the proposed control algorithm under the situation with time delay, it has been compared to PID algorithm in controlling the manipulator using vision information under the situation with a certain time delay.

목차

Ⅰ. 서 론

Ⅱ. 시스템 구성

Ⅲ. 머니퓰레이터 모델링

Ⅳ. 제어기 설계

Ⅴ. 실험결과

Ⅵ. 결 론

키워드

Time Delay(시간지연) Vision System(비젼장치) Manipulator(머니퓰레이터) Sliding Mode Control(슬라이딩 모드 제어)