한국소음진동공학회논문집 (Transactions of the Korean Society for Noise and Vibration Engineering)

  • 제12권8호
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  • Pages.609-615
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  • 2002
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  • 1598-2785(pISSN)
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  • 2287-5476(eISSN)
한국소음진동공학회 (The Korean Society for Noise and Vibration Engineering)
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운동기구용 로봇의 학습 제어 응용

Application of Learning Control to a Robotic Arm for Exercises

  • 발행 : 2002.08.01
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⟨ 이전 논문 다음 논문 ⟩

초록

본 논문에서는 단순하고 효율적인 학습제어 로직을 운동기구용 로봇팔 시스템에 적용하였다. 일반적으로 운동시에 운동기구에 적용되는 힘은 사용자마다 다르고 같은 사용자라 하더라도 운동시마다 다를 것이다. 이미 사용자의 신체조건에 따라 입력된 최적의 힘과 실제 가해지는 힘 사이의 오차를 보상하는데 본 논문에서는 학습제어를 적용하여 가해지는 힘의 종류(시변 또는 시불변함수)와 상관없이 빠르게 오차를 제거하고 원하는 운동을 추종함을 시뮬레이션을 통하여 확인할 수 있었다.

An application of a simple and effective learning control scheme to a robotic arm for exercise is presented. During exercises, the force applied by a .user to an exercise machine varies for different users and for different workouts of the same user. learning control is used to compensate for the difference between the actual force and the planned one. It is shown through simulation that the learning control method decreases tracking error quickly for both time-invariant and time-varying forcing functions.

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참고문헌

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