한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)

  • 제18권2호
  • /
  • Pages.119-128
  • /
  • 2015
  • /
  • 1226-833X(pISSN)
  • /
  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
권호 표지
DOI QR코드

DOI QR Code

다관절 로봇 아암의 강인한 모션 제어방법에 관한 연구

A Study on the Robust Motion Control Technology of Articulated Robot Arm

  • 투고 : 2015.03.26
  • 심사 : 2015.04.29
  • 발행 : 2015.05.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, we propose a new motion control technology to design robust control system of industrial robot. The system modeling of robotic manipulation tasks with constraints is presented, and the control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference of robot manipulator is generated by the reference controller as a discrete state system and the control behavior of constrained system which has poor modeling information and time-invariant constraint function is improved motion control system is successfully evaluated by experiment to the desired tasks.

키워드

참고문헌

  1. T. J. Tarn, Y, Wu, N. X1, and A. Isidori. "Force regulation and contact transition control." IEEE Control Systems Megazinel, pp. 32-39, 1996
  2. M. H. Raibert and J. J. Craig, "Hybrid position/force control of manipulators," ASME Journal of Dynamic System Measurement Control, no. 10 pp.126-133, 1981
  3. M. Masom, "Compliance and force control for computer controlled manipu ; ators," IEEE Trans. Systems, Man and Cybernetics, pp. 418-432, 1981.
  4. N. Hogan,"Impedance control : am approach to manipulation, parts I,II,III," Journal of Dynamic Systems Measurement and Control, pp. 1-24, 1985
  5. J. Stiver, P Antsaklis, and M.Lemmon, "Hybrid system modeling and autonomous control sys-tems," In Robert L. Grossman, Anil Nerode. Anders P. Ravn, and Has Rischel, eidtors, Hybrid Systems I, Lecture Notes in Computer Science 736, pp. 366-392, 1993.
  6. T. Niinomi, B. H. Krih, and J. E. R. Cury "Symthesis of supervisory controllers for hybrid systems based on approximating automata," Conference on Decision and Control , pp. 1461-1466,December. 1995
  7. M. Lemmon and C. Bett, "Hybrid control system design using robust linear control agents," Conference on Decision and Control, pp 2688-2693,1995
  8. A. Gollu and P. Varaiya..＂Hybrid dynamical systems," Conference on Decision and Control, December, 1989.
  9. J. Stiver and P. Antsaklis, "Modeling and analysis of hybrid control systems," Conference on Decision and Control, pp. 3748-3751, 1992.
  10. A. Pnueli and R. Rosner, "On the synthesis of a reactive module." Symposum, on Principies of Programing Languages. pp. 179-190. 1989.
  11. R. Brockett, "Hybrid models for motion control systems," in Essay on Control : Perspectives in the Theory and and Its Applications, H. l.rentelman and J. C. Willems, Eds. Boston, Ma: Birhauser, pp. 29-53, 1993.