Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study of Control for Robot Manipulator Using Nonlinear State Feedback

비선형 상태궤환을 이용한 로보트 매니퓰레이터의 제어에 관한 연구

  • Han, Sang-Wan (Dept. of Control and Instrumentation Eng. Ajou Univ.) ;
  • Choi, Hyoun-Chul (Dept. of Control and Instrumentation Eng. Ajou Univ.) ;
  • Hong, Suk-Kyo (Dept. of Control and Instrumentation Eng. Ajou Univ.)
  • 한상완 (아주대학교 제어 계측공학과) ;
  • 최현철 (아주대학교 제어 계측공학과) ;
  • 홍석교 (아주대학교 제어 계측공학과)
  • Published : 1995.07.20
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Abstract

Models of industrial robot manipulators are characterized by highly nonlinear equation with coupling between the variables of motion. In this paper, a case study that illustrates the use or nonlinear state feedback to decouple the control of a two axis SCARA type robot manipulator is presented. This method is based on a suitable partition about the dynamic equation of industrial robots. The performance of this method is showed by the computer simulation.

Keywords