Multirate dynamic control of robotic manipulator

두개의 표본시간을 갖는 산업용 로보트 제어 방식

A robust and efficient dynamic control algorithm for the position control of robotic manipulators is proposed. This algorithm consists of an open loop control and a closed loop control. The former may have a larger sampling time than the latter. The robustness and efficiency of this algorithm is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.