대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1993년도 하계학술대회 논문집 A
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- Pages.369-372
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- 1993
직접 구동형 매니퓰레이터를 위한 학습 제어기의 실시간 구현에 관한 연구
A Study on Implementation of a Real Time Learning Controller for Direct Drive Manipulator
- 전종욱 (서강대학교 전자공학과) ;
-
안현식
(KIST 제어시스템 연구실)
;
- 임미섭 (KIST 제어시스템 연구실) ;
- 김권호 (KIST 제어시스템 연구실) ;
- 김광배 (KIST 제어시스템 연구실) ;
- 이쾌희 (서강대학교 전자공학과)
- Jeon, Jong-Wook (Dept. of E.E. Sogang Univ.) ;
-
An, Hyun-Sik
(KIST Control Systems Lab.)
;
- Lim, Mee-Seub (KIST Control Systems Lab.) ;
- Kim, Kwon-Ho (KIST Control Systems Lab.) ;
- Kim, Kwang-Bae (KIST Control Systems Lab.) ;
- Lee, Kwae-Hi (Dept. of E.E. Sogang Univ.)
- 발행 : 1993.07.18
초록
In this thesis, we consider an iterative learning controller to control the continuous trajectory of 2 links direct drive robot manipulator and process computer simulation and real-time experiment. To improve control performance, we adapt an iterative learning control algorithm, drive a sufficient condition for convergence from which is drived extended conventional control algorithm and get better performance by extended learning control algorithm than that by conventional algorithm from simulation results. Also, experimental results show that better performance is taken by extended learning algorithm.
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