대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1993년도 정기총회 및 추계학술대회 논문집 학회본부
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- Pages.304-306
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- 1993
2자유도 보상기를 이용한 직접 구동형 로봇의 궤도제어
Trajectory Control of Direct Drive Robot with Two-Degree-of-Freedom Compensator
- 신정호 (명고옥대학 공학부 전자기계공학과) ;
- 등무건사 (명고옥대학 공학부 전자기계공학과) ;
- 영목달야 (명고옥대학 공학부 전자기계공학과) ;
- 대웅번 (명고옥대학 공학부 전자기계공학과)
- Shin, Jeong-Ho (Dept. of Electronic Mechanical Eng., Nogoya University) ;
- Fujiune, Konji (Dept. of Electronic Mechanical Eng., Nogoya University) ;
- Suzuki, Tatsuya (Dept. of Electronic Mechanical Eng., Nogoya University) ;
- Okuma, Shigeru (Dept. of Electronic Mechanical Eng., Nogoya University)
- 발행 : 1993.11.26
초록
In this paper, the authors show a link between a heuristic controller used in industry and a theoretical generalized controller. First, we clarify the internal structure of the generalized two-degree-of-freedom controller which yields a link between the theoretical researches and the practical applications. Secondly, we indicate how to blend identification and control together without any modification of the controller. This is in fact the problem of closed-loop identification. Thirdly, we propose a design technique of a free parameter taking into account a robust stability based on the information obtained from the identification. Finally, we apply the proposed algorithm to trajectory control of DD robot.
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