Control Progress of 6-DOF Robot using Adaptive Control

적응제어를 이용한 6자유도 로봇의 제어향상을 위한 연구

The purpose of robot manipulator control is to make for manipulator take a trace of pre-planned trajectory. In this study, the algorithm of MRAC(Model Reference Adaptive Control) on reference to adaptive control theory was studied. The experiments were performed on 6-DOF robot manipulator with respect to p-d(proportional-differential) controller and adaptive controller. The property of adaptive control was studied and its efficiency proved by being compared to p-d controller.