지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이용수
초록· 키워드
오류제보하기
Loading/unloading at sea is necessitated as larger container ships are being used. It is also unavoidable to load/unload at sea during military operations. An experimental cable array robot system, which can be used for loading/unloading at sea, consisting of four cables operated by four motors is designed and built. Even though it has simple structure, it has a large pay-load/robot-weight ratio, flexibility and wide workspace and can be easily built at low cost. In order to plan and control the paths of end-effector, two interpolation methods are introduced and compared. Since the robot is entirely based on cable tension, an analysis of tension is also presented for monitoring and planning purpose.
목차
Abstract
1. 서론
2. 시스템 구성
3. 시스템 모델링 및 제어
4. 결론
후기
참고문헌
참고문헌 (6)
참고문헌 신청
1. [학술대회논문] - Bruckmann, T / 2008 / Continuous workspace analysis, synthesis and optimization of wire robots / Proceeding of the ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference : 1 ~ 8
2. [학술대회논문] - Gorman, J.J / 2001 / The cable array robot: Theory and Experiment / Proceedings of the 2001 IEEE International Conference on Robotics & Automation : 2804 ~ 2810
3. [학술대회논문] - Mejias, L / 2006 / Two seconds to touchdown/ vision-based controlled forced landing / Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and systems : 3527 ~ 3532
5. [학술지(정기간행물)] - Oh, S.-R / 2005 / Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot / Multibody System Dynamics 13 (4) : 385 ~ 399
6. [학술대회논문] - Usher, K / 2005 / Air Vehicle Simulator: an Application for a cable Aarray robot / Proceedings of the 2005 IEEE International Conference on Robotics & Automation : 2241 ~ 2246
2. [학술대회논문] - Gorman, J.J / 2001 / The cable array robot: Theory and Experiment / Proceedings of the 2001 IEEE International Conference on Robotics & Automation : 2804 ~ 2810
3. [학술대회논문] - Mejias, L / 2006 / Two seconds to touchdown/ vision-based controlled forced landing / Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and systems : 3527 ~ 3532
5. [학술지(정기간행물)] - Oh, S.-R / 2005 / Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot / Multibody System Dynamics 13 (4) : 385 ~ 399
6. [학술대회논문] - Usher, K / 2005 / Air Vehicle Simulator: an Application for a cable Aarray robot / Proceedings of the 2005 IEEE International Conference on Robotics & Automation : 2241 ~ 2246
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UCI(KEPA) : I410-ECN-0101-2013-559-001490630