Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Expanded Robust Hybrid Control for Uncertain Robot Manipulators

불확실성을 포함한 로봇의 확장된 견실 하이브리드 제어

  • 김재홍 (부산대학교 지능기계공학과) ;
  • 하인철 (부산대학교 지능기계공학과) ;
  • 한명철 (부산대학교 기계공학부, 기계기술연구부)
  • Published : 2001.12.01
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Abstract

When robot manipulatros as mathematically modeled. uncetainties may not be avoided. The uncertain factors come from imperfect knowledge of system parameters, payload change. friction, external disturbance and etc. In this work, we proposed a class of robust hybrid control of manipulatosrs. We propose a class of expanded robust hybrid control with the separated bound function and the simulation results are provided to show the effectiveness of the algorithm.

Keywords

References

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