와이어-서스펜디드 시스템의 동역학 기반 2 차원 진동 감소 궤적 생성

Wire-suspended system is a system controlling position and orientation of a payload tied up by wires. Incompletely restrained wire mechanism is difficult to control its vibration as some of the degrees of freedom are not linearly controllable by wire length change. It is shown that modifying trajectory of a payload with its natural frequency is an effective feed-forward vibration reduction method. Dynamic modeling and vibration frequency analysis of a 2D-3DOF wire system is discussed and generation of vibration reduction trajectory is proposed. Data from simulation show modified trajectory of a payload reduces its vibration effectively.