대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1991년도 추계학술대회 논문집 학회본부
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- Pages.405-408
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- 1991
직선 궤적 계획을 위한 로보트 제어에 관한 연구
A Study on the Robot Control for Straight Line Trajectory Planning
- Gil, Jin-Su (DEPT. OF CONTROL ENG. AJOU UNIV.) ;
- Hong, Suk-Kyo (DEPT. OF CONTROL ENG. AJOU UNIV.)
- 발행 : 1991.11.22
초록
In this paper, the algorithm of Resolved Motion Rate Control(RMRC) is applied to the robot manipulator to implement a desired straight trajectory in the cartesian space, PI controller is also used to control the velocity and position which are produced by RMRC algorithm. And Bounded Deviation Method is used to determine the intermediate knot points which satisfy a given tolerence limit, between the straight line segment.
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