로봇 매니퓰레이터의 분산 적응제어

Decentralized Adaptive Control of Robot Manipulators

In this paper, a decentralized adaptive controller is proposed to control robot manipulators which are governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require mathematical model or parameter values of robot manipulators. The stability of the manipulators with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot manipulator system is stable, and has excellent trajectory tracking performance.