제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.618-623
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- 1992
Robust control of flexible joint manipulators
- Park, Kang-Bark (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
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Lee, Ju-Jang
(Department of Electrical Engineering, Korea Advanced Institute of Science and Technology)
- 발행 : 1992.10.01
초록
In this paper robotic manipulators in which the joints exhibit a certain amount of elasticity are considered. Based on a feedback linearized model, sliding mode control system is designed. In the control system design, weak joint stiffness assumption does not needed. Simulation results are presented to verify the validity of the control scheme. A robustness analysis for a feedback linearized model is also given with respect to uncertainties on the robot parameters.
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