수직3관절 로보트 매니풀레이터에 대하여 시변슬라이딩레짐을 사용한 가변구조 모델추종 적응제어의 응용

An Application of Variable Structure Model Following Adaptive Control Using Time-Varying Sliding Regime to Robot Manipulator with Vertical 3 links

The design concept of varaiable structure control is useful not only to stochasic systems but also to adaptive control systems. The Dynamic equation of vertical three linkage robot was derived. And it was simplyfied according to the scheme of control strategy. And we specify the form of model. Thereafter the error dynamic equation was derived between the real state of the plant and state of the model. Some simulations were performed to control robot manipulator applying the methodology of the variable structure model following adaptive control.