대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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- Pages.256-259
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- 1987
로보트를 위한 Dynamics 방정식의 해 유도와 Controller 설계에 관한 연구
A Study on the Solution of Dynamics Equation and the Design of Controller for ROBOT
- Woo, Sang-Lae (Kon-Kuk University) ;
- Kim, Hyung-Lae (Kon-Kuk University) ;
- Park, In-Kap (Kon-Kuk University)
- 발행 : 1987.07.03
초록
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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