대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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- Pages.998-1001
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- 1988
위상지연 제어기를 사용한 로보트의 견실한 제어
Robust Control of Robots Using a Phase-Lag Controller
- Choi, Chong-Ho (Dept. of Control & Instrumentation Eng. Seoul National University) ;
- Kim, Hong-Seok (Dept. of Control & Instrumentation Eng. Seoul National University)
- 발행 : 1988.07.01
초록
A robust control method for robots in presented. In this method, a phase-lag controller is used for reducing the effect of the unknown payload without the measurement of joint accelerations and torque/force. Simulation results for the lower 3 joints of PUMA 560 show considerable reduction of position errors due to the unknown payload, compared to the computed-torque method.
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