robust independant controller for position, motion-inducing force, internal force of multi-robot system)

다중 로보트 시스템의 위치, 운동야기힘, 내부힘의 강건 독립 제어기

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.