제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.147.2-147
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- 2001
A Simple Robust Tracking Controller for Robot Manipulators Using Joint Position Measurements Contaminated by Noises
- Wada, Makoto (Kyushu Institute of Technology) ;
- Oya, Masahiro (Kyushu Institute of Technology) ;
- Sagara, Shinichi (Kyushu Institute of Technology) ;
- Kobayashi, Toshihiro (Kyushu Institute of Technology)
- 발행 : 2001.10.01
초록
In this paper we develop a new robust trajectory tracking control scheme without using joint velocity. The proposed controller doesn´t employ adaptation, Therefore, the construction of the controller becomed very simple. Moreover, by using numerical simulation, we make sure the effectiveness of the proposed controller in the presence of quantization errors.
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