제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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- Pages.177-182
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- 1989
로보트 매니퓰레이터에 대한 강건한 적응제어기 설계
Robust adaptive controller design for robot manipulator
초록
In this paper a new adaptive control algorithm is derived, with the unknown manipulator and payload parameters being estimated online. In practice, we may simplify the algorithm by not explicity estimating all unknown parameters. Further, the controller must be robust to residual time-varying disturbance, such as striction or torque ripple. Also, the reference model is a simple douple integrator and the acceleration input for robot manipulator consists of a proportion and derivative controller for trajectory tracking purposes. The validity of this control is confirmed in simulation where two-link robot manipulator shows the robust performances in spite of the existing nonlinear interaction and unknown parametrictings
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