Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on the Solution of Dynamics Equation and the Design of Controller for ROBOT

로보트를 위한 Dynamics 방정식의 해 유도와 Controller 설계에 관한 연구

  • 우상래 (건국대학교 공과대학 전자공학과) ;
  • 김형래 (건국대학교 공과대학 전자공학과) ;
  • 박인갑 (건국대학교 공과대학 전자공학과)
  • Published : 1987.07.03
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Abstract

In this paper, a servo controller for a robot manipulator is developed. It consists of a conventional MRAS controller for each joint together with a feedback control to Dynamics compensation. To generale the control torque effectively a currant drive method is adopted. The speed of the actuator is measured by using a tachometer and the position of the link is measured by using a potentiometer. To show the effectiveness of the proposed control algorithm the proposed controller is tested in real time.

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