Self-Tuning Pole-Placement Control Of Robotic Manipulators With An Inverse Modela

로보트 매니퓰레이터의 역모델을 갖는 자기동조 극배치 제어

This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.