The Transactions of the Korean Institute of Electrical Engineers P (전기학회논문지P)

The Korean Institute of Electrical Engineers (대한전기학회)
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Adaptive Control of Flexible Robot Actuators with Time-Varying Parameters

시변 파라미터 특성을 갖는 유연한 로봇 엑츄에이터의 적응제어

  • 박지호 (동명대 메카트로닉스공학과) ;
  • 조현철 (동아대 전기공학과)
  • Published : 2008.09.01
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Abstract

Robot actuators are significantly important with respect to whole control system performance. This paper presents an adaptive control approach for flexible robot actuators with time-varying spring and damping nature. We first represent a perturbed system model with assumption that its information are partially known. Nominal model reference control method is employed for deriving our adaptive control law. We carry out numerical simulation to evaluate the proposed control system and compare simulation results to a well-known control method for demonstrating its effectiveness.

Keywords

References

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