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Adaptive Robust Control for Robot Manipulator with the Uncertain Bound Estimation and Implementation

불확실성의 경계를 추정하는 로봇 매니퓰레이터의 적응견실제어기 설계 및 실험

  • 한명철 (부산대학교 기계공학부) ;
  • 하인철 (부산대학교 지능기계공학과, 고등기술연구원 로봇생산기술센터)
  • Published : 2004.04.01

Abstract

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

Keywords

References

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