Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on the Robust Motion Control Technology of Articulated Robot Arm

다관절 로봇 아암의 강인한 모션 제어방법에 관한 연구

  • Received : 2015.03.26
  • Accepted : 2015.04.29
  • Published : 2015.05.31
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Abstract

In this paper, we propose a new motion control technology to design robust control system of industrial robot. The system modeling of robotic manipulation tasks with constraints is presented, and the control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference of robot manipulator is generated by the reference controller as a discrete state system and the control behavior of constrained system which has poor modeling information and time-invariant constraint function is improved motion control system is successfully evaluated by experiment to the desired tasks.

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References

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