대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

로보트 매니퓰레이터의 궤적 추종을 위한 강인한 적응제어기의 설계 및 구현

A Robust Adaptive Controller Design and Implementation for Tracking control of Robot Manipulator

  • 조원영 (아주대학교 제어계측공학과) ;
  • 홍석교 (아주대학교 제어계측공학과)
  • Cho, Won-Young (Dept. of Control & Instrumentation Eng. AJOU University) ;
  • Hong, Suk-Kyo (Dept. of Control & Instrumentation Eng. AJOU University)
  • 발행 : 1994.11.18
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초록

In this paper, the desist and the implementation of a robust adaptive controller for trajectory tracking control of the robot manipulator is presented. The proposed control scheme ensures that without any prior knowledge of the robot manipulator parameters, tracking errors are converged to some boundary in the presence of a state-dependent input disturbances as well as the ideal case. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking control of the robot manipulator.

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