제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Dual Mode Control for the Robot with Redundant Degree of Freedom -The application of the preview learning control to the gross motion part-

  • Mori, Yasuchika (Department of Mechanical Engineering, The National Defense Academy) ;
  • Nyudo, Shin (Department of Mechanical Engineering, The National Defense Academy)
  • Published : 1992.10.01
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Abstract

This paper deals with a dual mode control system design for the starching work robot. From the feature of this work, the robot has redundant degree of freedom. In this paper, we try to split the whole movement the robot into a gross motion part ai. a fine motion part so as to achieve a good tracking performance. The preview learning control is applied to the gross motion part. The validity of the dual mode control architecture is demonstrated.

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