전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제30B권5호
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- Pages.52-61
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- 1993
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- 1016-135X(pISSN)
유연한 로보트 매니퓰레이터의 적응제어
Adaptive Control of A One-Link Flexible Robot Manipulator
초록
This paper deals with adaptive control method of a robot manipulator with one-flexible link. ARMA model is used as a prediction and estimation model, and adaptive control scheme consists of parameter estimation part and adaptive controller. Parameter estimation part estimates ARMA model's coefficients by using recursive least-squares(RLS) algorithm and generates the predicted output. Variable forgetting factor (VFF) is introduced to achieve an efficient estimation, and adaptive controller consists of reference model, error dynamics model and minimum prediction error controller. An optimal input is obtained by minimizing input torque, it's successive input change and the error between the predicted output and the reference output.
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