제어로봇시스템학회:학술대회논문집
- 1988.10a
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- Pages.32-36
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- 1988
Robust nonlinear control of robotic manipulators
로보트 매니플레이터의 비선형 강건 제어
Abstract
Generally, for nonlinear control of robotic system, the method of computed torque or inverse dynamics is frequently used. In this case, exact knowledge of the system parameters is required, however. This paper addresses the problem of nonlinear control when the parameter of system is varied. The approach is based upon decoupled model following. As an example, control of a three degree of freedom manipulator arm under mass variation is simulated.
Keywords