International Journal of Control, Automation, and Systems

  • 제5권6호
  • /
  • Pages.718-724
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  • 2007
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  • 1598-6446(pISSN)
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  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Control of Rigid Robots Equipped with Brushed DC-Motors as Actuators

  • 발행 : 2007.12.31
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초록

We extend the application of an adaptive controller previously introduced in the literature under the assumption that no actuator dynamics exists to the case when the dynamics of the brushed DC-motors used as actuators is not neglected. Convergence to the desired positions is ensured without requiring any feedback to cope with the additional electric dynamics. The proposed control scheme does not require the exact knowledge of neither robot nor actuator parameters to select controller gains.

키워드

참고문헌

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