Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1989.11a
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- Pages.456-461
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- 1989
ROBUST ADAPTIVE CONTROLLER FOR ROBOT MANIPULATOR CONTROL
로보트 매니플레이터를 위한 강인한 제어기 설계에 관한 연구
- Ryoo, Kgi-Wung (Dept. of C.B., Ajou University) ;
- Hong, Suk-Kyo (Dept. of C.B., Ajou University)
- Published : 1989.11.25
Abstract
In this paper, the robust adaptive controller for the accurate position control of the robot manipulator in discribed. The proposed controller has feedforward and feedback terms. To reduced the cumputation time, the inertia matrix is simlipied by diagonal matrix and the centrifugal and Colioris term and gravity term are assumed to be zero. The auxiliary signal is added in the controller. This signal improve convergence time of error. The simulation results show that the proposed method is applied to the real time control.
Keywords