제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
- /
- Pages.807-810
- /
- 1997
A new discrete-time robot model and its validity test
- Lai, Ru (Dept. of Control Engineering and Science, Kyushu Institute of Technology) ;
- Ohkawa, Fujio (Dept. of Control Engineering and Science, Kyushu Institute of Technology) ;
- Jin, Chunzhi (Dept. of Control Engineering and Science, Kyushu Institute of Technology)
- 발행 : 1997.10.01
초록
Digital control of robot manipulator employs discrete-time robot models. It is important to explore effective discrete-time robot models and to analyze their properties in control system designs. This paper presents a new type discrete-time robot model. The model is derived by using trapezoid rule to approximate the convolution integral term, then eliminating nonlinear force terms from robot dynamical equations. The new model obtained has very simple structure, and owns the properties of independence to the nonlinear force terms. According to evaluation criteria, three aspects of the model properties: model accuracy, model validity range and model simplicity are examined and compared with commonly used discrete-time robot models. The validity of the proposed model and its advantages to control system designs are verified by simulation results.