Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)

  • 2001.04a
  • /
  • Pages.259-262
  • /
  • 2001
  • /
  • 2005-8446(pISSN)
Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

An improved robust hybrid control for uncertain robot manipulators using the stiffness bound of environments

환경의 강성 경계를 이용한 불확실 로봇 시스템의 개선된 견실 하이브리드 제어

  • 권택준 (부산대 대학원 지능기계공학과) ;
  • 한명철 (부산대 기계공학과) ;
  • 하인철 (부산대 대학원 지능기계공학과)
  • Published : 2001.04.01
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Abstract

An improved robust hybrid control law is proposed. This law used the separated bounding function and the stiffness bound. It satisfied the performance though we don't know precise information of contact environments. It guarantees the practical stability in sense of Lyapunov. Simulation was performed to validate this law using a four-axis SCARA type robot manipulator.

Keywords