대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2001년도 춘계학술대회논문집B
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- Pages.265-270
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- 2001
회전 관절형 로봇의 강인제어
Robot Control of a Revolute Joint Robot
초록
In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by using Lyapunov's direct method. The results of computer simulations also show that the robot system is stable, and has excellent trajectory tracking performance.
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