Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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On the Synthesis of Robot Manipulator using Adaptive Control

적용제어에 의한 로보트매니퓰레이터 설계

  • Lee, Si-Bok (Dept.of Mechanical Design Engineering, , Busan National University) ;
  • Lee, Man-Hyung (Dept.of Precision Mechanical Engineering, Busan National University) ;
  • Park, Jong-Jin (Dept.of Mechanical Engineering, Graduate School of Busan National University)
  • 이시복 (부산대학교 기계설계공학과) ;
  • 이만형 (부산대학교 정밀기계공학과) ;
  • 박종진 (부산대학교 대학원 기계공학과)
  • Published : 1986.03.01
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Abstract

Adaptive Model Following Control (AMFC) technique is applied to develop a robot manipulator control system, which can deal successfully with the complex dvnamics of the manipulator. Main concerns of this study are put on the problem reducing the chatter amplitude of control signal yielded by the unit vector control law that was proposed [10] previously for AMFC of the manipulatro, and the effect- iveness of the algorithm when implemented practically. To see the effectiveness of modified method, computer simulations using new and old control law are carried out and compared, and the modified one id implemented in RHINO XR-II robot system recon- structed partially to enable torque control.

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