한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2000년도 춘계학술대회 논문집
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- Pages.574-577
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- 2000
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- 2005-8446(pISSN)
적응제어를 이용한 6자유도 로봇의 제어향상을 위한 연구
Control Progress of 6-DOF Robot using Adaptive Control
초록
The purpose of robot manipulator control is to make for manipulator take a trace of pre-planned trajectory. In this study, the algorithm of MRAC(Model Reference Adaptive Control) on reference to adaptive control theory was studied. The experiments were performed on 6-DOF robot manipulator with respect to p-d(proportional-differential) controller and adaptive controller. The property of adaptive control was studied and its efficiency proved by being compared to p-d controller.
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