대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

매니퓰레이터의 동력학적 제한조건이 가변구조 제어 파라메타 선정에 미치는 영향 분석

Effect Analysis On Selection of VSC Parameters by Manipulator Dynamic Constraints

  • 이홍규 (서울대학교 전자공학과) ;
  • 이강웅 (서울대학교 전자공학과) ;
  • 최계근 (서울대학교 전자공학과)
  • Lee, Hong-Kyu (Dept. of Electronic Eng, Seoul National University) ;
  • Lee, Kang-Wong (Dept. of Electronic Eng, Seoul National University) ;
  • Choi, Keh-Kun (Dept. of Electronic Eng, Seoul National University)
  • 발행 : 1988.11.25
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초록

This paper reveals the relation hereon the robot system dynamic constraints and the VSC parameters, and analyzes the effect on the trajectory of the joint angle and the hand when the result of the relation analysis is applied to the robot system control. The result of the analysis in this paper is applied effectively to the path tracking control and the trajectory planning using the VSC method.

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