Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1992.07a
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- Pages.391-393
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- 1992
An Adaptive Controller Design and its Application for a Flexible Joints Manipulator
유연성 관절.매니퓰레이터에 대한 적응제어기 설계 및 응용
- Rho, Hee-Seok (Dept. of Electrical Eng. Han-Yang Univ.) ;
- Kim, Eung-Seok (Dept. of Electrical Eng. Han-Yang Univ.) ;
- Yi, Keon-Young (Dept. of Electrical Eng. Han-Yang Univ.) ;
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Yang, Hai-Won
(Dept. of Electrical Eng. Han-Yang Univ.)
- Published : 1992.07.23
Abstract
This paper proposes an adaptive control system using a 80286 microprocessor-based system and DC servo motors for the control of flexible joint manipulator. In this paper, we construct the controller based on a singular perturbation strategy damping out the elastic oscillations at the joints. we added to the controller the compensator for damping the joint and the term for decreasing the position error between the actuator and the link in order to improve the asymptotical convergence of the position of the link. It is shown that the implementation of this control algorithm can be practical.
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