대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2004년도 추계학술대회
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- Pages.702-707
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- 2004
비 간섭 슬라이딩 모드 기법을 이용한 로봇 매니퓰레이터의 궤도제어
Trajectory control of a manipulator by the decoupling sliding mode control
- 발행 : 2004.11.03
초록
In this paper, we proposed the decoupling VSS controllers for a trajectory control of a two degrees of freedom SCARA type manipulator. We decoupled the position and velocity of a manipulator tip by using a nonlinear error functions. The reference inputs of the controller can be decided directly from the desired position and velocity. Simulation result is provided to verity the effectiveness of the proposed control scheme.