대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1988년도 추계학술대회 논문집 학회본부
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- Pages.45-48
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- 1988
매니퓰레이터의 동력학적 제한조건이 가변구조 제어 파라메타 선정에 미치는 영향 분석
Effect Analysis On Selection of VSC Parameters by Manipulator Dynamic Constraints
- Lee, Hong-Kyu (Dept. of Electronic Eng, Seoul National University) ;
- Lee, Kang-Wong (Dept. of Electronic Eng, Seoul National University) ;
- Choi, Keh-Kun (Dept. of Electronic Eng, Seoul National University)
- 발행 : 1988.11.25
초록
This paper reveals the relation hereon the robot system dynamic constraints and the VSC parameters, and analyzes the effect on the trajectory of the joint angle and the hand when the result of the relation analysis is applied to the robot system control. The result of the analysis in this paper is applied effectively to the path tracking control and the trajectory planning using the VSC method.
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