Adaptive Pole-Placement and Self-Tuning Control for a Robotic Manipulator

적응 극점 배치 및 자기동조 제어 방법에 의한 로보트 매니퓰레이터 제어

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a deired trajectory in spite of the presence of nonlinearies and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which controls the extended linearized perturbaton model via the pole placement, and this control. The feasibility of the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.