제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.269-274
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- 1990
반복 학습을 통한 로보트 매니퓰레이터의 적응 제어
Adaptive control for robot manipulator through repeated learning
- Lee, Cheol (Dep. Electronics Eng. Kwang Woon University) ;
- An, Duk-Hwan (Dep. Electronics Eng, Kwang Woon University) ;
- Lee, sang-Hyo (Dep. Control & Instrumentation Eng. Kwang Woon University)
- 발행 : 1990.10.01
초록
Usually, robot manipulators in production lines are operated with reperting work trajectories. This paper presents the repeated adaptive learning algorithm for robot manipulates for the case of a trajectory. This algorithm uses the nonlinear dynamic model including the repeated friction compensating term, The advantage of the scheme is that It allows friction compensation which may be otherwise difficult for differently constructed models. A secondary advantage of the sheme is that it can also adapt to torque calculation in order to reduce the computational load of the control computer. To show the efficiency of the proposed controller, a computer simulation is performed for the planar robot manipulator with a 2 degree of freedom.
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