제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
- /
- Pages.50-53
- /
- 1988
로보트 매니퓰레이터의 역모델을 갖는 자기동조 극배치 제어
Self-Tuning Pole-Placement Control Of Robotic Manipulators With An Inverse Modela
초록
This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.
키워드