• Title/Summary/Keyword: 2축 스칼라 로봇

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Recursive Torque Control of Robot Manipulators (로봇 매니퓰레이터의 반복 토크 제어)

  • 신대왕;김종식;박전수
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2000.05a
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    • pp.570-573
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    • 2000
  • A control law for a SCARA robot manipulator is designed using recursive torque methods. This scheme uses previous torques and error dynamics to generate torque controls at the present time and adopts relatively simple numerical and control algorithms that can be easily realizable. In order to evaluate the performance and robustness of the suggested control system, the 2-link SCARA robot manipulator is practically implemented using a dSPACE interface. It is found that the recursive controller has a good tracking performance in spite of the presence of payload disturbances.

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