대한기계학회논문집 (Transactions of the Korean Society of Mechanical Engineers)
- 제17권2호
- /
- Pages.385-392
- /
- 1993
- /
- 1225-5963(pISSN)
DOI QR Code
탄성관절을 갖는 로봇 매니퓰레이터의 안정한 합성제어기 설계
A Stable Composite Controller Design for Flexible Joint Robot Manipulators
초록
This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate an additional stabilizing control law with the sliding property. The singularly perturbated models in this paper include inertia moments which are functions or the deformations of actuators as well as link positions. The values of renewedly defined fast controller variables are computer from the corrected reduced-order model without additional computational loads. Proposed schemes are compared with the conventional one. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than the conventional scheme, and especially effective for the manipulator with high joint-flexibilities.
키워드