Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1988.11a
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- Pages.68-71
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- 1988
The comparison of the Feedforward compensation and Computed-Torque control schemes
Computed-Torque 제어와 Feedforward 역학 보상 제어 방법의 비교 평가
- Chung, Yong-Oug (Kyung Hee University Electronics) ;
- Bae, Jun-Kyung (Kyung Hee University Electronics) ;
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Park, Chong-Kuk
(Kyung Hee University Electronics)
- Published : 1988.11.25
Abstract
The purpose of this paper is to compare with the simulated results of two control algorithms control algorithm in the real time, based upon the model. These control schemes are "Computed-torque" and "Feedforward-Dynamics compensation", and have been simulated on the CMU DD Arm II.
Keywords