전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)

대한전자공학회 (The Institute of Electronics and Information Engineers)
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Decentralized Adaptive Controller Design for Manipulators

  • 류준 (충남대학교 전자공학과) ;
  • 황석용 (충남대학교 전자공학과)
  • Lyou, Joon (Dept. of Elec. Eng., Chungnam Nat'l Univ.) ;
  • Hwang, Suk-Young (Dept. of Elec. Eng., Chungnam Nat'l Univ.)
  • 발행 : 1992.11.01
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초록

This paper presents a decentralized adaptive controller design for a robot manipulator to track the given desired trajectory in the joint space. The controller is of distributed structure and does not require the complex manipulator dynamic model, thereby it is computationally very efficient. Each joint is independently controlled by a PID feedback part and a velocity-acceleration feedforward part. Simulation results for a two-link direct drive manipulator conform that the proposed decentralized scheme is feasible.

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