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Robust Trajectory Control of Robot Manipulators Using Time Delay Estimation and Internal Model Concept

로봇 매니퓰레이터를 위한 시간지연추정과 내부모델개념을 결합한 강인제어기에 관한 연구

  • 조건래 (한국과학기술원 대학원 기계공학과) ;
  • 장평훈 (한국과학기술원 기계공학과) ;
  • 정제형 (한국과학기술원 대학원 기계공학과)
  • Published : 2004.08.01

Abstract

In this paper, Time Delay Control(TDC) for robot manipulators is analyzed and its problems are founded. In order to remedy the problems, the enhanced controller is proposed and analyzed. The effect of friction associated with TDC is reported and its cause is presented. Through the analysis, simulation and experiment, it is shown that the friction effect causes serious degradation in control performance and that it is a result of the error of Time Delay Estimation(TDE) in TDC. In order to remedy the problems, TDC combined with Internal Model Control(IMC) concept is proposed. The proposed compensator is effective enough to handle the bad effect of friction, and is so simple and efficient as to match positive attribute of TDC. The simulation and experimental results show the effectiveness of proposed controller against the friction of the robot manipulators.

Keywords

Time Delay Control with Internal Model(TDCIM);Time Delay Control(TDC);Internal Model Control(IMC);Time Delay Estimation Error(TDE Error);Coulomb Friction;Stick-Slip

References

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