진동 저감을 위한 2 자유도 매니퓰레이터의 설계 및 제어

Abstract

Vibration reduction for quadrupedal robots is an important issue which can allow to increase the quality of image or video filmed by its own camera device. The proposed system will be attached to the top of the robot’s body. It is configurated by 2DOF manipulator, and controlled with sky-hook method. By experiment, about 85% of vibration is reduced via our system.