탄성지지부를 갖는 로봇 시스템의 제어

Control of Robot System on the Elastic Base with Uncertainty

This paper presents a study on the position tracking control of robot system on the uncertain elastic base. The elastic base is modeled as a virtual robot which has passive joints and the control strategy is using approximate Jacobian operators. Jacobian operators represent the overall robot system including base movement. However, because we don't know the base movement we can't estimate the jacobian operators directly. The control algorithm is proposed which uses only Jacobian operators of a real robot as approximate Jacobian operators. The measured errors from external sensor are compensated by approximate Jacobian operators. The simulation results of a single-axis robot system show that the control strategy can be used for position tracking.