Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)
- Volume 4 Issue 5
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- Pages.636-643
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- 1998
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- 1976-5622(pISSN)
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- 2233-4335(eISSN)
A Design on Multivariable Controller for Industrial Robot Manipulators
산업용 로봇 매니퓰레이터의 다변수 제어기 설계
Abstract
This paper is presents multivariable control scheme for industrial robot manipulators. The control scheme consists of two loops. The modeling error between linearized robot model and actual robot model is compensated in error compensation loop. The PID control loop is designed for pole assignment to stability of robot system and utilized for trajectory tracking. Alternatively computer simulation results are given for illustration purpose of suggested controller.
Keywords
- multivariable control;
- modeling error;
- linearized;
- error compensation;
- PID control;
- pole assignment;
- trajectory tracking