제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
- /
- Pages.1785-1789
- /
- 1991
A STUDY ON THE RELATION BETWEEN CLOSED-FORM DESCRIPTION AND RECURSIVE-FORM REALIZATION OF ASAPTIVE CONTROL OF MANIPULATORS
- Kubozono, Takeshi (Department of Control Engineering, Tokyo Institute of Technology) ;
- Yamakita, Masaki (Department of Control Engineering, Tokyo Institute of Technology) ;
- Furuta, Katsuhisa (Department of Control Engineering, Tokyo Institute of Technology)
- 발행 : 1991.10.01
초록
Recently, a number of papers on adaptive control scheme of manipulators are proposed. Slotine and Li[1] showed an adaptive control scheme for robot manipulator. The controller was described in closed form. And later Niemeyer and Slotine discussed about a computational implementation of the controller in recursive form[2]. Walker proposed another adaptive control scheme which can be implemented by a recursive-form controller[4]. Closed-form description is used for the analysis or design of adaptive control systems while recursive-form realization is used for implementation of the controller. The relation between the closed-form realization and the recursive-form one seems to be inadequately referred. Hence, it makes sense to consider the relation between the closed-form description and the recursive-form one. In this paper, first, we make a simple derivation of an closed-form dynamics description of a robot arm from its recursive-form description. And then we derive the closed-form realization of Walker's scheme applied to manipulators having no kinematic loop. We clarify the difference between the Walker's scheme and Slotine's and evaluate the convergence under the controllers.
키워드