로봇 매니퓰레이터의 분산 적응제어군

A Family of a Decentralized Adaptive Control for Robotic Manipulators

  • 신규현 (울산대학교 대학원 기계자동차공학과) ;
  • 이용연 (울산대학교 대학원 기계자동차공학과) ;
  • 이수한 (울산대학교 기계자동차공학부)
  • 발행 : 2004.11.03

초록

In this paper, a family of 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 the manipulators. The stability of the manipulators with the controller is proved by Lyapunov theory. The results of numerical simulations show that the system is stable, and has excellent trajectory tracking performance.

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