제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

An Adaptive Control Method of Robot Manipulators using RBFN

RBFN을 이용한 로봇 매니퓰레이터의 적응제어 방법

  • 이민중 (부산대학교 전기공학과) ;
  • 최영규 (부산대학교 전기전자컴퓨터공학부) ;
  • 박진현 (진주산업대학교 자동화공학부)
  • Published : 2000.10.01
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Abstract

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 VSC-1 ike control. RBFN is used in order to approximate かon system, and VSC-like control to guarantee robustness On the basis of the Lyapunov stability theorem, we guarantee the stability 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 a 2 link SCARA type robot manipulator.

Keywords