Control of a 3-DOF vertical articulated robotic system using nonlinear transformation control

비선형 변환제어에 의한 3자유도 수직 다관절 로봇의 제어

  • Yang, Chang-Il (Dept.of Mechanical Engineering, Graduate School of Yonsei University) ;
  • Baek, Yun-Su (Dept. of Mechanical Design Engineering, Yonsei University)
  • 양창일 (연세대학교 대학원 기계공학과) ;
  • 백윤수 (연세대학교 기계설계학과)
  • Published : 1997.11.01


Mathematical models of industrial robots or manipulators are highly nonlinear equations with nonlinear coupling between the variables of motion. As the working speed has been fast, the effects of nonlinear terms have become serious. So the control algorithm based on approximately linearized equation looses the efficiency. In order to design the control law for the nonlinear models, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory in this study. Nonlinear terms of the system are eliminated and coupled terms are decoupled by this feedback law. This method is applied to a 3-D.O.F. vertical articulated manipulator by both experiments and simulations and compared with PID control which is widely used in the industry.