Design of a Robust Adaptive Controller and Its Implementation on Robot Manipulators for Trajectory Tracking

로봇 매니퓰레이터의 궤적 추종을 위한 강인한 적응제어기의 설계 및 구현

In this paper, the design and the implementation of a robust adaptive controller for trajectory tracking of robot manipulator is presented. The proposed control scheme ensures that tracking errors are converged to some boundaries in the presence of a state-dependent input disturbances as well as the ideal case without any prior knowledge of the robot manipulator parameters. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking of the robot manipulator.