Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1988.11a
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- Pages.437-440
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- 1988
ROBOT ARM DYNAMIC CONTROL BY COMPUTER
컴퓨터에 의한 로보트 팔 역할 제어
- Ahn, Sou-Kwan (Kyung Hee University) ;
- Bae, Jun-Kyung (Kyung Hee University) ;
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Park, Chong-Kug
(Kyung Hee University)
- Published : 1988.11.25
Abstract
This paper discuss which new dynamic control method for robot arm. It is basedon nonlinear feedback and T transformation which externally linearizes the whole system and provides simultaneous output decoupling. The nonlinear feedback augmented with optimal error correcting controller, which operates on the task error level. Computer simulation were appled to evaluate the performance of new dynamic control method. The simulation results are discussed in detail.
Keywords