대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
- /
- Pages.2729-2731
- /
- 2000
로봇 매니퓰레이터의 실시간 적응 제어
On-line Adaptive Control for Robot Manupulators
- Lee, Min-Jung (Dep. of Electrical Eng. Pusan National University) ;
-
Choi, Young-Kiu
(Dep. of Electrical Eng. Pusan National University)
;
-
Kim, Sung-Shin
(Dep. of Electrical Eng. Pusan National University)
- 발행 : 2000.07.17
초록
In this paper, we propose an adaptive controller using RBFN(radial basis function network) for robot manipulators. The structure of the proposed controller consists of a RBFN and a fixed gain PD controller. On the basis of the Lyapunov stability theorem, we guarantee the UUB (uniformly ultimately boundedness) for the total system. And the learning law of RBFN is established by the Lyapunov method. Finally, we apply the proposed controller to tracking control for the 2 link SCARA type robot manipulator.
키워드