제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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- Pages.168-172
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- 1996
Teleoperating system의 적응학습제어에 관한 연구
Study of adaptive learning control for teleoperating system
초록
In master-slave teleoperating system, it is important that the system has good maneuverability. In this paper, it is addressed an adaptive learning control method applicable to the master-slave system. This control scheme has the ability to estimate uncertain dynamic parameters included intrinsically in the system and to achieve the desired performance without the nasty matrix operation. The proposed method is applied to a master-slave teleoperating system composed of two SCARA robots and verified experimentally.