제어로봇시스템학회:학술대회논문집
- 1991.10a
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- Pages.1046-1051
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- 1991
A hierachical control structure of a robot manipulator for conveyor tracking
컨베이어 추적을 위한 로보트 매니퓰레이터의 계층적 제어구조
Abstract
For the conveyor tracking application of a robot manipulator, a new control scheme is presented. The presented scheme is divided into two stages : the upper one is the motion planning stage and the lower one is the motion control stage. In the upper stage, the nominal trajectory which tracks the part moving in a constant velocity, is planned considering the robot arm dynamics. On the other hand, in the lower level, the perturbed trajectory is generated to track the variation in the velocity of conveyor belt via sensory feedback and the perturbed arm dynamics. In both stages, the conveyor tracking problem is formulated as an optimal tracking problem, and the torque constraints of a robot manipulator are taken into account. Simulation results are then presented and discussed.
Keywords