제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.647-651
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- 1992
PID regulator design for robot manipulators
로봇 매니퓰레이터에 대한 비례.적분.미분 조절기 설계
- Nam, Heon-Seong (Dept. of Electronics Eng., Chungnam National Univ.) ;
- Kim, Cheon-joong (Dept. of Electronics Eng., Chungnam National Univ.) ;
- Lyou, Joon (Dept. of Electronics Eng., Chungnam National Univ.)
- Published : 1992.10.01
Abstract
This paper presents a model-based control scheme for a robot manipulator to track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload. The scheme has two components: a nominal control and a variational control. The nominal control, generated from direct calculation of the manipulator dynamics along a desired trajectory, drives the manipulator to a neighborhood of the trajectory. Then a discrete-time PID regulator is designed based on the linearized dynamic model and Linear Quadratic(LQ) method, which generates the variational control that regulates perturbations in the vicinity of the desired trajectory.
Keywords