로봇 메니퓰레이터의 강인성 제어기 설계

Robust Controller Design of Robot Manipulator

The gloval model is developed by combining this actuator formular with robot manipulator which is reported previously . The model initially represented in the form of coupled time-varying nonlinear dynamic system. It then decomposed into the decoupled linear model using nonlinear feedback and state transformation techniques. The new model employes the pole replacement method to improve the stability of the system. Using this new model, an robust control algorithm is developed. The proposed algorithm takes two state variables, position vector and velocity vector, and one input variable from actuator, input voltage.