로보트 머니플레이터 시스템에 대한 적응 제어에 관한 연구

A Study on Adaptive Control For Robotic Manipulator System

  • 강문식 (연세대학교 전자공학과) ;
  • 박찬영 (연세대학교 전자공학과) ;
  • 박민용 (연세대학교 전자공학과) ;
  • 이상배 (연세대학교 전자공학과)
  • 발행 : 1987.07.03

초록

Adaptive control for robot manipulator controller has been considered as an effective approach because robot dynamic models contain the nonlinearities and uncertainties. This paper present an approach for the position and velocity control of a manipulator by using the seif-tuning type controller for each point. The complicated model manipulator system is modeled by a set of time series difference equation. The parameters of the models are determined by online recursive algorithms. Finally some remarks on the effectiveness and applications of adaptive controller are discussed.

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