제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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- Pages.876-881
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- 1987
Two-stage robust model following control of robot manipulators
- Osuka, Koichi (Department of Mechanical Engineering, University of Osaka Prefecture) ;
- Sugie, Toshiharu (Department of Mechanical Engineering, University of Osaka Prefecture) ;
- Ono, Toshiro (Department of Mechanical Engineering, University of Osaka Prefecture)
- 발행 : 1987.10.01
초록
This paper is concerned with a robust model following control scheme for manipulators which contains uncertain terms. Our method consists of nonlinear compensation and linear compensation. The former ensures the robustness of the plant, the later achieves both the desired model following response and the desired initial error convergence.
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