로보트 매니플레이터의 비선형 강건 제어

Robust nonlinear control of robotic manipulators

Generally, for nonlinear control of robotic system, the method of computed torque or inverse dynamics is frequently used. In this case, exact knowledge of the system parameters is required, however. This paper addresses the problem of nonlinear control when the parameter of system is varied. The approach is based upon decoupled model following. As an example, control of a three degree of freedom manipulator arm under mass variation is simulated.