제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Decentralized adaptive control of robotic manipulators

로봇트 매니퓰레이터의 비집중 적응 제어

  • Kim, Ki-Soon (Department of Electronics Engineering, Chungnam National University) ;
  • Lyou, Joon (Department of Electronics Engineering, Chungnam National University)
  • 김기순 (충남대학교 전자공학과) ;
  • 유준 (충남대학교 전자공학과)
  • Published : 1987.10.01
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Abstract

This paper presents a decentralized adaptive control scheme based on Lyapunov design for robotic manipulators, which make possible the joint independent control without neglecting the coupling between the joint motions. The performance of the presented scheme is compared via computer simulations with the conventional joint independent control scheme.

Keywords