한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 춘계학술대회 논문집
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- Pages.419-423
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- 1996
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- 2005-8446(pISSN)
로봇의 비선형 적응제어기 개발에 관한 연구
Nonlinear Adaptive Controller for Robot Manipulator
초록
These days, industrial robots are required to have high speed and high precision in doing various tasks. Recently, the adaptive control algorithms for those nonlinear robots have been developed. With spatial vector space, these adaptive algorithms including recursive implementation are simply described. Without sensing joint acceleration and computing the inversion of inertia matrix, these algorithms which include P.D. terms and feedforward terms have global tracking convergence. In this paper, the feasibility of the proposed control method is illustrated by applying to 2 DOF SCARA robot in DSP(Digital Signal Processing).
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