대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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- Pages.234-237
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- 1987
산업용 머니퓰레이터를 위한 여러 제어 알고리즘의 구현과 비교
Implementation and Comparison of Various Control Algorithms for Industrial Manipulators
- 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)
- 발행 : 1987.07.03
초록
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.
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