Title   name
2007년 KSIAM 봄 학술대회
 
  Title
  Speaker   Hong, Seong-Il  
  Date 2007-05-25
  Host
  Place KAIST
  File  의 1 번째 Real Media 동영상입니다. 의 1 번째 강연자료입니다.
 
Abstract : This article suggests an inverse kinematics analysis and the robust PID controller of a 2-DOFspatial parallel motion simulator. A 2-DOF spatial parallel mechanism consists of a fixed baseand a moving frame connected by two serial chains, with each serial chain containing one revolutejoint and two passive spherical joint. Inverse kinematics problems are solved in order tofind the joint variables necessary to bring the end effector to track the desired trajectory. An inverseoptimal proportional-integral-derivative (PID) control design method is proposed to tracktrajectories in the motion simulator and its dynamic equation is described by Lagrangian formulation.The H∞ optimality and robust stability of the closed-loop system is acquired throughthe inverse optimal PID controller in spite of the frictional disturbance acting on the system.Finally numerical results show the effectiveness of the robust PID controller that is designed bythe square/linear tuning law.