[융합과학부]Control Methods for Flexible Joint Robots

Speaker: 김민준 박사(German Aerospace Center)

Date & Time: 2019년 6월 18일(화), 11:00

Where: 융합대학원 D-123호

Abstract

Flexible joint mechanism is becoming more and more common in modern robotics. This talk demonstrates control problems for various types of flexible joint robots. Flexibility is sometimes introduced on purpose, but sometimes it merely originates from drive trains such as harmonic drive and belt mechanism. In any case, one common control objective is to realize active compliance behavior. Within this scope, friction compensation problems and stable interaction control problems will be tackled using passivity theory. Apart from these, recent works done in DLR for aerial manipulators will be demonstrated.

Short bio

2006.03-2010.02: B.S., Mechanical Engineering, Korea University
2010.03-2016.02: Ph.D., Mechanical Engineering, POSTECH
2016.03-2016.05: Postdoc, Mechanical Engineering, POSTECH
2016.06-present: Research Scientist, German Aerospace Center

 

초청자: 융합과학부 지능형융합시스템전공 박재흥 교수(연락처 : 031-888-9140, park73@snu.ac.kr)

2019-06-13|