한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2001년도 춘계학술대회 논문집
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- Pages.259-262
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- 2001
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- 2005-8446(pISSN)
환경의 강성 경계를 이용한 불확실 로봇 시스템의 개선된 견실 하이브리드 제어
An improved robust hybrid control for uncertain robot manipulators using the stiffness bound of environments
초록
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.
키워드