대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1991년도 하계학술대회 논문집
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- Pages.771-776
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- 1991
매니퓰레이터의 실시간 적응제어
Real time Adaptive control of the Manipulator
- Chung, C.S. (Dept. of Electrical Engineering, Soongsil Univ.) ;
- Lee, S.C. (Dept. of Electrical Engineering, Daeyeu Tech. College) ;
- Na, C.D. (Dept. of Electrical Engineering, Daeyeu Tech. College) ;
- Koo, C.K. (Dept. of Electrical Engineering, Soongsil Univ.)
- 발행 : 1991.07.18
초록
In this paper. an indirect adaptive controller for manipulator which is composed of two controller structure is considered. One is feedforward controller in which the dynamics equation solved and the other is feedback controller in which the output error compensated. This controller has a good performance, but the computation burden of the feed forward controller keep from real time control. At this point, we proposed the two time adaptive controller where the sampling time of the feedforward controller is quite longer than that of the feedback controller. By the computer simulation, this proposed two time adaptive controller shows good performance in the view of accuracy in spite of decreasing computational burden.
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