Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1996.11a
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- Pages.396-400
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- 1996
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- 2005-8446(pISSN)
Study of Adaptive Learning Control for Robot-Manipulator
로봇 매니퓰레이터의 적응학습제어에 관한 연구
Abstract
It is prerequisite to apply dynamics controller to control robot manipulator required to perform fast and Precise motion. In this Paper, we Propose an adaptive 3earning control method for the dynamic control of a robot manipulator. The proposed control scheme is made up of PD controller in the feedback loop and the adaptive learning controller in the feedforward loop. This control scheme has the ability to estimate uncertain dynamic parameters included intrinsically in the system and to achieve the desired performance without the nasty matrix operation. The proposed method is applied to a SCARA robot and experimentally verified.