대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1989년도 하계종합학술대회 논문집
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- Pages.675-678
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- 1989
예측 알고리즘을 이용한 로보트 매니퓰레이터의 경로 제어
Trajectory Control of Robot Manipulator based on the Preview Algorithm
- Yun, Won-Sik (Hanyang University) ;
- Song, Chang-Sub (Hanyang University) ;
- Yang, Hai-Won (Hanyang University) ;
- Suh, Il-Hong (Hanyang University) ;
- Oh, Jae-Eung (Hanyang University)
- 발행 : 1989.07.21
초록
This paper proposes two types of the preview algorithms to predict the joint velocities and joint positions, and deals with a control approach using the preview algorithms for the precise trajectory control. Specifically, a predictor an the form of discrete time state equations is proposed based on the robot dynamics model linearized by the computed torque method. And another state predictor is proposed by the beat line fitting in the least square sense, where present joint velocities and positions and several past positions are employed. Then computer simulations are performed for the SCARA robot with two d.o.f. to show the validities of the proposed algothrithms.
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