제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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- Pages.669-674
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- 1989
Robust control of the directly drived robot via model feedback control system
- Narikiyo, Tatsuo (Government Industrial Research Institute, Kyushu) ;
- Izumi, Teruyuki (Government Industrial Research Institute, Kyushu)
- 발행 : 1989.10.01
초록
Robot manipulators are highly coupled nonlinear systems and their motions are influenced by uncertain dynamics. In this paper a design methodology which is called model feedback control system or plant model control scheme is presented for the purpose of reducing the influence of the uncertain dynamics. This control system is applied to the trajectly control of the directly drived robot. Theoretically and experimentally performances resulting from use of this control scheme show that the influences of the uncertain dynamics are reduced obviously.
키워드