한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제21권11호
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  • Pages.110-116
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  • 2004
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

로봇 매니플레이터의 분산 적응제어

Decentralized Adaptive Control of Robot Manipulators

  • 이수한 (울산대학교 기계자동차공학부) ;
  • 이용연 (울산대학교 대학원 기계자동차공학과) ;
  • 신규현 (울산대학교 대학원 기계자동차공학과)
  • 발행 : 2004.11.01
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초록

In this paper, a decentralized adaptive controller is proposed to control robot manipulators which are governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require mathematical model or parameter values of robot manipulators. The stability of the manipulators with the controller is proved by Lyapunov theory. The results of numerical simulations show that the system is stable, and has excellent trajectory tracking performance.

키워드

참고문헌

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