Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1997.10a
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- Pages.496-499
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- 1997
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- 2005-8446(pISSN)
A Study on Trajectory Tracking of Field Robot using Adpative Control
적응제어 기법을 이용한 필드 로봇의 궤적 추종에 관한 연구
Abstract
Field robot represented by excavator can be applied for various kinds of working in manufacturing, construction, agriculture etc. because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. In general, the dynamics of field robot have strong coupling, various kinds of non-linearity, and time-varying parameters according to working conditions. Therefore, it is very difficult to describe the system well, and design controller systematically based on its model. This paper established the mathematical model of field robot driven by electro-hydraulic servomechanism and constructed the adaptive control system robust to external load variations. The proposed control system for the field robot was evaluated by the computer simulation and the performance results of trajectory tracking were compared with that of PID control system.