Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1990.07a
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- Pages.504-509
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- 1990
DECENTRALIZE)) ADAPTIVE CONTROL FOR ROBOT MANIPULATOR
로보트 매니퓰레이터의 비집중 적응제어
- Lee, Sang-Cheol (Dae Yeu Tech.College) ;
- Chung, Chan-Su (Sung Sil Univ.)
- Published : 1990.07.05
Abstract
This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.
Keywords