A Study on Dynamics Analysis and Real Time Optimal Tracking Control& Rhino Robotic Manipulator

라이노 로보트 매니퓰레이터의 동특성 미 실시간 최적추적제어에 관한 연구

  • 한성현 (부산대학교 정밀기계공학과) ;
  • 이만형 (부산대학교 기계공학과)
  • Published : 1989.03.01

Abstract

In general, the state of system can be effected by external noise and observed only through a noisy channel. Therefore we use the estimation technigue for the information of state of the system effected by noise. There are many filters such as kalman-Buchy filter, kalman filter, Extended Kalman filter algorithm, cononlinear, extended Kalman filter algorithm to the estimation of parameters is very useful and has a long history. Also a considerable number of applications of this method has been reported. In this paper, the robot control system is treated in stochastic optimal control because of the robots doing a complicated and accurate task in inapproate environment. We have conclusion that error covariance is converged and the stability of filtering is obtained.

Keywords