두 산업용 로보트 매니퓰레이터의 최소시간 경로제어에 관한 연구 = A Study on the Minimum Time Path Control For Two Industrial Robot Manipulators

다국어 초록 (Multilingual Abstract)

Hybrid control method is widely used as control method of robot manipulators, but it is the method of steady equiblium state analysis and can't simultaneusly control. Current industrial manipulators are typically controlled in a non―minimum time manner. And because of the highly nonlinearlity of robot parameters, robot manipulators can't be controlled accurately.
In this paper, we generate the desired path minimum time path, using the maximum velocity and optimal velocity of manipulators, and propose the new controller that is included the dynamic equations based on the Hybrid control method and is appended to be insensitive to the parameter uncertainty.