Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Robust Control of a Robot Manipulator with Revolute Joints

회전 관절형 로봇 매니플레이터의 강인제어

  • 신규현 (울산대학교 대학원 기계자동차공학과) ;
  • 이수한 (울산대학교 기계자동차공학부)
  • Published : 2003.09.01
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Abstract

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

Keywords

References

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