대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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- Pages.305-307
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- 1994
로보트 매니퓰레이터의 궤적 추종을 위한 강인한 적응제어기의 설계 및 구현
A Robust Adaptive Controller Design and Implementation for Tracking control of Robot Manipulator
- Cho, Won-Young (Dept. of Control & Instrumentation Eng. AJOU University) ;
- Hong, Suk-Kyo (Dept. of Control & Instrumentation Eng. AJOU University)
- 발행 : 1994.11.18
초록
In this paper, the desist and the implementation of a robust adaptive controller for trajectory tracking control of the robot manipulator is presented. The proposed control scheme ensures that without any prior knowledge of the robot manipulator parameters, tracking errors are converged to some boundary in the presence of a state-dependent input disturbances as well as the ideal case. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking control of the robot manipulator.
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