Dual Mode Control for the Robot with Redundant Degree of Freedom -The application of the preview learning control to the gross motion part-

  • Mori, Yasuchika (Department of Mechanical Engineering, The National Defense Academy) ;
  • Nyudo, Shin (Department of Mechanical Engineering, The National Defense Academy)
  • 발행 : 1992.10.01

초록

This paper deals with a dual mode control system design for the starching work robot. From the feature of this work, the robot has redundant degree of freedom. In this paper, we try to split the whole movement the robot into a gross motion part ai. a fine motion part so as to achieve a good tracking performance. The preview learning control is applied to the gross motion part. The validity of the dual mode control architecture is demonstrated.

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