제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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- Pages.58-62
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- 1988
제한 입력을 고려한 로보트 매니플레이터의 학습제어에 관한 연구
On learning control of robot manipulator including the bounded input torque
초록
Recently many adaptive control schemes for the industrial robot manipulator have been developed. Especially, learning control utilizing the repetitive motion of robot and based on iterative signal synthesis attracts much interests. However, since most of these approaches excludes the boundness of the input torque supplied to the manipulator, its effectiveness may be limited and also the full dynamic capacity of the robot manipulator can not be utilized. To overcome the above-mentioned difficulties and meet the desired performance, we propose an approach which yields the effective learning control schemes in this paper. In this study, some stability conditions derived from applying the Lyapunov theory to the discrete linear time-varying dynamic system are established and also an optimization scheme considering the bounded input torque is introduced. These results are simulated on a digital computer using a three-joint revolute manipulator to show their effectiveness.
키워드