산업용 머니퓰레이터를 위한 여러 제어 알고리즘의 구현과 비교

Implementation and Comparison of Various Control Algorithms for Industrial Manipulators

Recently various control algorithms for industrial manipulators have been proposed. However, computation time, modelling error, and torque type controller design have prevented real-time implementation. As the result, most of performance evaluations of control algorithms have been carried out only by computer simulations. In this paper, we explore real-time implementation to show the feasibility and effectiveness of such algorithms. Experimental results indicate that computed torque method and learning control algorithms can be effectively applied to control industrial manipulators.