Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1987.07a
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- Pages.234-237
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- 1987
Implementation and Comparison of Various Control Algorithms for Industrial Manipulators
산업용 머니퓰레이터를 위한 여러 제어 알고리즘의 구현과 비교
- Yoo, D.S. (Department of Electrical Engineering, KAIST) ;
- Shin, Y.S. (Department of Electrical Engineering, KAIST) ;
- Chung, M.J. (Department of Electrical Engineering, KAIST) ;
- Bien, Z. (Department of Electrical Engineering, KAIST)
- Published : 1987.07.03
Abstract
Recently various control algorithms for industrial manipulators have been proposed. However, computation time, modelling error, and torque type controller design have prevented real-time implementation. As the result, most of performance evaluations of control algorithms have been carried out only by computer simulations. In this paper, we explore real-time implementation to show the feasibility and effectiveness of such algorithms. Experimental results indicate that computed torque method and learning control algorithms can be effectively applied to control industrial manipulators.
Keywords