Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1992.07a
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- Pages.394-396
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- 1992
A Study on the Adaptive PD Controller for robot manipulator with Elastic Joints
유연성 관절 로보트 매니퓰레이터에 대한 적응 PD 제어기에 관한 연구
- Kang, Ji-Won (Dept. of Electrical Eng. Han-Yang Univ.) ;
- Kim, Eung-Seok (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 note is concerned with the point to point control of manipulators having elastic joints. We present a PD control algorithm which is adaptive with respect to the gravity and elastic parameters of robot manipulators. While the conventional control law is used, a new adaptive law is used to improve the performance. The proposed controller is shown to be stable. It is Shown that steady-state position error converges to zero through some simulations concerning the manipulator with three revolute elastic joints.
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