대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1993년도 하계학술대회 논문집 A
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- Pages.380-382
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- 1993
로봇 매니퓰레이터의 강인한 제어
Robust control of robot manipulators
- Yi, Hyung-Kyi (Department of Electrical Engineering, KAIST) ;
- Yi, Moon-No (Department of Electrical Engineering, KAIST) ;
- Chung, Myung-Jin (Department of Electrical Engineering, KAIST)
- 발행 : 1993.07.18
초록
In this paper, we derive a simple robust nonlinear control scheme for n-link robot manipulators subject to parameter uncertainty. By using the theory of variable structure system(VSS) and taking advantage of the important property of the robot dynamics, the stability of the derived control scheme is proved. This scheme utilizes the desired trajectory outputs, which can be calculated a priori, instead of the actual joint outputs in the nonlinear compensation controller. So the amount of on-line calculations is largely reduced, and as a result, this scheme can be implemented much more efficiently.
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