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安秀寬,朴世勝,裵悛坰,朴鍾國 慶熙大學校 1989 論文集 Vol.18 No.-
In this paper a new adaptive control algorithm is derived, with the unknown manipulator and payload parameters being estimated online. In pratice, we may simplify the algorithm by not explicitly all unknown parameters. Futher, the controller must be robust to residual time - varying disturbance, such as stiction or torque ripple. Also, the reference model is a simple double integrator and the acceleration input for robot manipulator consists of a proportion and derivative controller for trajectory tracking purposes. The validity of this control is confirmed in simulation where two - link robot manipulator shows the robust performances in spite of the existing nonlinear interaction and unknown parameter changes.