Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1995.04b
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- Pages.256-261
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- 1995
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- 2005-8446(pISSN)
유연링크 로봇의 특이섭동 모델 최적 제어
Abstract
To improve the performance of the robots they must be built ever lighter, which will lead to flexibility of the links. The full order of the flexible link manipulator dynamic system does not allow the determination of a feedback linearization control as for flexible link manipulator regard low mode. In this paper, this drawback is overcome by LQG/LTR controller which is designed bya corrected reduced modle based on the singular perturbation method.
Keywords