제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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- Pages.1-7
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- 1993
S-G 알고리즘을 이용한 로보트 매니플레이터의 적응제어
Adaptive control for robot manipulator using speed-gradient algorithm
초록
In this paper we propose the new adaptive control algorithm by using S-G algorithm based on the error equations derived by Slotine. We verify the validity of the proposed controller and convergence of three type parameter estimation law based on S-G algorithm from the computer simulation.
키워드