Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1987.07b
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- Pages.1210-1212
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- 1987
A Study on Adaptive Control For Robotic Manipulator System
로보트 머니플레이터 시스템에 대한 적응 제어에 관한 연구
- Kang, Moon-Sik (Dept. of Electronic Eng. Yonsei University) ;
- Park, Chan-Young (Dept. of Electronic Eng. Yonsei University) ;
- Park, Mig-Non (Dept. of Electronic Eng. Yonsei University) ;
- Lee, Sang-Bae (Dept. of Electronic Eng. Yonsei University)
- Published : 1987.07.03
Abstract
Adaptive control for robot manipulator controller has been considered as an effective approach because robot dynamic models contain the nonlinearities and uncertainties. This paper present an approach for the position and velocity control of a manipulator by using the seif-tuning type controller for each point. The complicated model manipulator system is modeled by a set of time series difference equation. The parameters of the models are determined by online recursive algorithms. Finally some remarks on the effectiveness and applications of adaptive controller are discussed.
Keywords