제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
- /
- Pages.47-51
- /
- 1987
로봇트 매니퓰레이터의 비집중 적응 제어
Decentralized adaptive control of robotic manipulators
- Kim, Ki-Soon (Department of Electronics Engineering, Chungnam National University) ;
- Lyou, Joon (Department of Electronics Engineering, Chungnam National University)
- 발행 : 1987.10.01
초록
This paper presents a decentralized adaptive control scheme based on Lyapunov design for robotic manipulators, which make possible the joint independent control without neglecting the coupling between the joint motions. The performance of the presented scheme is compared via computer simulations with the conventional joint independent control scheme.
키워드