다중 로봇을 이용한 선박 객실 진동의 능동 제어 기법 연구

A Study on Active Control Methods of a Cabin Vibration Using Multi Robot

The desire for the stable and comfortable cabin of the high speed transport system is increasing. In this study, a new control system operated by 3RRR multi robots such as the active suspension system of motor vehicle is proposed. The goal of this control is keeping zero velocity of the upper robot(cabin) although the lower robot(transport system) is moving randomly. Jacobian matrix was used to design the controller. From the simulation results, the remarkable reduction of motion of the cabin(upper platform) was observed.

ABSTRACT

Ⅰ. 서론

Ⅱ. 다중 로봇의 기구학 분석

Ⅲ. 다중 로봇의 동역학(자코비안) 해석

Ⅳ. 시스템 모델링

Ⅴ. 제어기 설계

Ⅵ. 시뮬레이션 결과

Ⅵ. 결론

참고문헌

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