Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1988.07a
- /
- Pages.990-993
- /
- 1988
Force Control with the PD - Optimal Control of a Robot Manipulator
PD-최적 제어를 이용한 로봇 매니퓰레이터의 FORCE CONTROL
- Cho, Byung-Chan (Electrical Dept. Hanyang University) ;
- Jung, Yong-Cheol (Electrical Dept. Hanyang University) ;
- Yang, Hai-Won (Electrical Dept. Hanyang University)
- Published : 1988.07.01
Abstract
RMFC (Resolved Motion Force Control) is the method to control the Cartesian force and position using FCC (Force Convergent Control) instead of the complicated dynamic equations of the manipulator. The gain parameters of the controller are adjusted through many trial and errors. In this paper PD-optimal control method is introduced to give optimal gain parameters which minimize the difference between actural acceleration and desired acceleration. To show the validitiesn of the proposed method computer simulations are performed for the two-link manipulator.
Keywords