A STUDY OF ROBUST CONTROLLER FOR ROBOT MANIPULATOR

로보트 매니플레이터의 제어를 위한 강인한 적응 제어기의 설계

In this paper we investigate the application to the motion control of n-link robotic manipulators of recently developed stable factorization approach to tracking and disturbance rejection. Given control scheme consists of an approximate "Computed Torque" based upon a simplified model together with additional state feedback and feedforward compensation, and then, nonlinear control gain has more useful than constant control gain to guarantee robustness to parameter uncertainty and external disturbance. At this stage, we design high gain nonlinear state feedback controller and simulate this controller at the SCARA type robot manipulator of two joint.