한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1994년도 추계학술대회 논문집
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- Pages.577-583
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- 1994
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- 2005-8446(pISSN)
반복 학습을 이용한 로봇 매니퓨레이터의 힘 제어
A Force Control of Robot Manipulator Based on the Iterative Learning Control
초록
The purpose of this paper is to study the force control law which can be implemented on a non-modified robot system. The external force control algorithm proposed in this paper can be designed by means of a classical and modern control law. We showed the validation and the possibility of muti-dimensional force control idea through the simulation and experiments. Also, the Iterative learning control is studied for compensating errors due to thr disturbances and nonlinear effects. The previous information(control input, error) was used to determine the control input of next trial. The experimental result show the vaidity of this algorithm.
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