제어로봇시스템학회:학술대회논문집
- 1989.10a
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- Pages.183-187
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- 1989
A study on decentralized adaptive control of robot manipulator
로보트 매니퓰레이터의 비집중 적응제어에 관한 연구
Abstract
This paper presents on approach to the position control of a robot manipulator by using a decentralized adaptive control scheme. The large scale system is regarded as the system which consists of many subsystems having interconnection. In each subsystem, a local control system is composed by feedforward and feedback component, one computes the nominal torque from the Newton-Euler equation, the other computes the perturbation equation which reduce the position error of the manipulator along the nominal trajectory. A computer simulation studies was conducted to evaluate and compare the performances of the proposed manipulator control scheme with those of the PD control and centralized control schemes.
Keywords