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양창일,백윤수,김호룡 연세대학교 산업기술연구소 1994 논문집 Vol.26 No.1
As the working speed of the manipulator has been fast, the effect of nonlinear forces has become serious. So more improvement of performance cannot be expected by the control of manipulator using approximate linearization. As an approach for solving these problems, there is a method that eliminates nonlinear terms by feedback law. On the basis of this method, the nonlinear control theory makes possible decoupling of coupling terms and arbitrary arranging of poles. The control law is applied to a basic industrial robot which has been used in the field needed for high accuracy. By simulating position, velocity, torque and tracing trajectory, it can be concluded that the control results are reasonable. The relations between the coefficients of the linearized differential equations and the maximum error and torque for prescribed trajectory are also examined. Finally, the method for selecting the values for getting the most rapid and precise response within maximum torque of each drive is suggested in the choice of coefficients of characteristic equations obtained as a result of the control.