Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1991.11a
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- Pages.397-400
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- 1991
A Cartesian Space Adaptive Control Scheme for Robot Manipulators
로봇 매니퓰레이터의 직교공간 적응제어 방식
- Hwang, Seok-Yong (Dept. of Electronics Eng., Chungnam National Univ.) ;
- Lyou, Joon (Dept. of Electronics Eng., Chungnam National Univ.)
- Published : 1991.11.22
Abstract
This paper presents a cartesian space decentralized adaptive controller design for the end effector of the robot manipulator to track the given desired trajectory in the cartesian coordinate. By the cartesian based control scheme, the task related high level motion command is directly executed without solving the complex inverse kinematic equations. The controller does not require the complex manipulator dynamic model, and hence it is computationally very efficient. Each degree of freedom of the end effector on the cartesian space is controlled by a PID feedback controller and a velocity acceleration feed forward conpensation part. Simulation results for a two-link direct drive manipulator conform that the present cartesian based decentralized scheme is feasible.
Keywords