公开(公告)号：KR1020110062291A

公开(公告)日：2011-06-10

申请号：KR1020090118969

申请日：2009-12-03

Applicant: 한국과학기술원

Inventor： 장평훈 ,  한동기

IPC: B25J9/16 ,  B25J13/00

Abstract: PURPOSE: A time delay control method using gradient estimation for a robot manipulator and a controller of a robot manipulator using the same are provided to restricts the influence of nonlinear friction without chattering in tracking response by effectively compensating a time delay estimation error. CONSTITUTION: A time delay control method using gradient estimation for a robot manipulator under nonlinear friction is as follows. The torque of an actuator of a robotic manipulator is expressed by an equation that includes an estimated gradient for compensating a time delay estimation error. The estimated gradient functions as a high-pass filter for a time delay estimation error.

Abstract translation: 目的：提供一种使用机器人操纵器的梯度估计的时间延迟控制方法和使用其的机器人操纵器的控制器，以通过有效地补偿时间延迟估计误差来限制非颤动的影响，而不会产生颤动的跟踪响应。 构成：在非线性摩擦下使用机器人操纵器的梯度估计的时间延迟控制方法如下。 机器人操纵器的致动器的扭矩由包括用于补偿时间延迟估计误差的估计梯度的等式表示。 估计的梯度用作时间延迟估计误差的高通滤波器。

公开(公告)号：KR1020020062072A

公开(公告)日：2002-07-25

申请号：KR1020010003297

申请日：2001-01-19

Applicant: 한국과학기술원

Inventor： 장평훈 ,  박주이 ,  박형순 ,  정제형 ,  전보경

IPC: F16H55/18

CPC classification number: F16H19/005 ,  F16H57/12 ,  Y10T74/1836 ,  Y10T74/19623

Abstract: PURPOSE: A decelerator to prevent backlash is provided to regularly maintain tension produced to a cable when realizing high reduction ratio and to prevent backlash caused by the cable. CONSTITUTION: A decelerator to prevent backlash includes a driving unit(100), plural rotating units(200), and an outputting unit(300). In the driving unit, an end of a driving shaft(120) is coupled to a driving motor(140) and a primary cable(180) is wound on the periphery of the other end of the driving shaft. In the rotating unit, the primary cable is wound on the periphery of a primary cylinder(220) with extended and a rotating shaft(240) is penetrated in the direction of the central shaft of the primary cylinder, and the primary cylinder is reciprocated in the direction of axis. In the outputting unit, a secondary cable(160) wound on the rotating shaft is wound on the periphery of a secondary cylinder(320) with extended and an output shaft(340) is penetrated in the direction of the central shaft of the secondary cylinder. The cylinder can be reciprocated in the direction of the axis of the rotating and output shaft by the cable and the tension of the cable is regularly maintained. Therefore, backlash caused by the cable is prevented.

Abstract translation: 目的：提供防止齿隙的减速器，以便在实现高减速比时定期维持电缆产生的张力，并防止电缆引起的齿隙。 构成：防止间隙的减速器包括驱动单元（100），多个旋转单元（200）和输出单元（300）。 在驱动单元中，驱动轴（120）的端部联接到驱动电动机（140），并且主电缆（180）缠绕在驱动轴的另一端的周边。 在旋转单元中，主电缆缠绕在主汽缸（220）的周边上，延伸的旋转轴（240）沿着主汽缸的中心轴的方向穿透，并且主汽缸以 轴方向。 在输出单元中，缠绕在旋转轴上的辅助电缆（160）卷绕在二次圆筒（320）的周边上，延伸的输出轴（340）穿过次级圆筒（320）的中心轴的方向 。 气缸可以通过电缆在旋转和输出轴的轴线方向上往复运动，并且电缆的张力被定期地保持。 因此，防止由电缆引起的间隙。