Real Time Control for the Position and Velocity of Robot Manipulator With Parameter Uncertainties

不確實性을 고려한 로보트 매니퓰레이터의 位置 및 速度에 대한 實時間 制御

In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.