제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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- Pages.981-986
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- 1988
A CONTROLLER DESIGN GUARARNTEEING PRECISE TRAJAECTORY FOLLOWING FOR A ROBOTIC MANIPULATOR
- Kee, Chang-Doo (Department of Mechanical Engineering, Suncheon National Univ.) ;
- Hwang, Won-Gul (Department of Mechanical Engineering, Chonnam National Univ.)
- 발행 : 1988.10.01
초록
A controller synthesis procedure for precise tracking of reference inputs in the sense of spheres is applied to a 3 d.o.f. robotic manipulator. This methodology applies to a class of nonlinear systems with input uncertainty and parameter uncertainty. The 3 d.o.f. manipulator to be controlled is subjected to varying payloads and is required to follow specified joint trajectories to within prespecified tolerances. The design procedure above lends itself naturally to this type of control problem. The appeal of such a design procedure lies on a special decomposition which exploits linear control theory on the one hand and facilitates a separate treatment of the effects of nonlinearities and the uncertainties on the other.
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