Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 12 Issue 8
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- Pages.140-146
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- 1995
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Adaptive robust control for a direct drive SCARA robot manipulator
직접구동 SCARA 로봇 머니퓰레이터에 대한 적응견실제어
- Lee, Ji-Hyung ;
- Kang, Chul-Goo
- 이지형 (현대중공업 산업기술연구소 메카트로닉스연구실) ;
- 강철구 (건국대학교 공과대학 기계공학과)
- Published : 1995.08.01
Abstract
In case the uncertainty existing in a system is assumed to satisfy the matching condition and to be come-bounded. Y. H. Chen proposed an adaptive robust control algorithm which introduced adaptive sheme for a design parameter into robust deterministic controls. In this paper, the adaptive robust control algorithm is applied to the position tracking control of direct drive robots, and simulation and experimental studies are conducted to evaluate control performance.