Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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On-line gain Tuning of Industrial Robot Using MRAC

MRAC를 이용한 산업용 로봇의 실시간 게인 동조

  • 하회권 (부산대학교 기계공학과) ;
  • 허남 (부산대학교 지능기계공학과) ;
  • 이영진 (부산대학교 지능기계공학과) ;
  • 이만형 (부산대학교 기계공학부)
  • Published : 1999.10.01
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Abstract

During operating given working a robot manipulator makes some problems such as the accumulation of the error or the deviation from the command trajectory. These problems are mainly due to the disturbance noise or unmodeled system parameters. To solve these problems most of robot manipulators equip the controller. But if exact controller gains are not seleced we can't decrease the working efficiency(such as compensation about error or deviation) of the robot manipulator. So in this paper we present the controller gain tuning law by which we can find the controller gain which satisfies the per-formance specification of the robot manipulator during working of the robot. The proposed algorithm is derived from the Laypunov direct method. And by the simulation on the 4-axis SCARA type robot(SAMSUNG SM5 Robot) we guarantee the performance of this algorithm.

Keywords

References

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