소음진동 (Journal of KSNVE)

한국소음진동공학회 (The Korean Society for Noise and Vibration Engineering)
권호 표지

모델링 오차를 갖는 유연 링크 로봇 최적 제어

Optimal Control of a Flexible Link Robot with Modelling Errors

  • 한기봉 (부산대학교 대학원, 기계설계공학과) ;
  • 이시복 (부산대학교 대학원, 기계설계공학과)
  • 발행 : 1996.12.01
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초록

Linear LQG controller has been investigated to control flexible link manipulators. The performance and complexity of these depend largely on the model upon which the controller is designed. In this study, the flexible modes of the link manipulator are considered to have uncertain parameters, which can be represented by random variable and these parameters are reflected on the weighting of performance. In this method, the exact modelling for the flexible modes is not necessary. The order of the resulting controller is much lower than the one based on a full model. Through numerical study, it is shown that the performance and the stability-robustness of the proposed controller reaches reasonably the one based on the full model.

키워드

참고문헌

  1. IEEE Dynamics Modelling of a Single Flexible Robot Rakhsha, F.;Goldenberg, A. A.
  2. IEEE Transfer Function of a Single Flexible Link Wang, D.;Vidyassagar, M.
  3. ASME v.116 A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator Kwon Dong-soo;Book, W. J.
  4. 대한기계학회논문집 v.11 no.6 유연 단일 링크 로봇 조작기의 최적귀환 제어 하영균
  5. 대한기계학회 춘계학술대회 논문집(Ⅰ) 유연 링크 매니퓰레이터 LQG/LTR제어 한기봉;이시복
  6. IEE. Proceedings-D LQG Optimal Control Design for Uncertain System Grimble, M. J.
  7. Proceedings of ACC. v.2 End Point Control of a Two Link Manipulator with a Very Flexible Forearm: Issues and Experiments Oakley, C. O.;Cannon, R. H.
  8. 한국정밀공학회지 v.13 no.1 유연 링크 로봇의 특이 섭동 모델 최적제어 한기봉;이시복
  9. Proceedings of IEEE International Conference on Robotics and Automation v.1 Dynamic Model of Robot Manipulator with Both Structural and Joint Flexibility Yang, G. B.;Donath, M.
  10. IEEE Trans. on Automatic Control v.AC-21 no.1 Modern Wiener-Hopf Design of Optimal Controllers Youla, D. C.;Bongiorno, J. J.
  11. Analysis and Design of Discrete Linear Control Systems Kucera, V.
  12. IEEE Trans. on AC. v.AC-26 Robustness Results in Linear-Quadratic Gaussian Based Multivariable Design Lehtomaki, N. A.;Sandell, N. R.;Athans, M.