제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제11권4호
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  • Pages.330-336
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  • 2005
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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학습을 이용한 로봇 머니퓰레이터용 지능제어

Intelligent Control of Robot Manipulators by Learning

  • 이동훈 (성균관대학교 정보통신학부) ;
  • 국태웅 (성균관대학교 정봉통신학부) ;
  • 정재욱 (안산공과대학 컴퓨터정보계열)
  • 발행 : 2005.04.01
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초록

An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inputs. It is shown that all the error signals in the learning system are bounded and the repetitive robot motion converges to the desired one exponentially fast with guaranteed convergence rate. An engineering workstation based control system is built to verify the effectiveness of the proposed control scheme.

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참고문헌

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