Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 14 Issue 7
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- Pages.73-81
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- 1997
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Robust Hybrid Control for Uncertain Robot Manipulators
불확실 로봇 시스템의 견실 하이브리드 제어기 설계
Abstract
An new class of robust position/force hybrid control law is proposed for uncertain robot manipulators. The uncertainty is nonlinear and (plssibly fast) time-varying. Therefore, the uncertain factors such as imper- fect modeling, friction, payload change, and external disturbance are all addressed. Based on the possible bound of the uncertainty, the controller is constructed and the stability study based on Lyapunov function is presented. To show that the proposed control laws are indeed applicable, the theoretical result is applied to a SCARA-type robot manipulator and simulation result is presented.
Keywords