로봇 매니퓰레이터의 선형모델을 이용한 다변수 제어기 설계 = Design of a Multivariable Controller for the Robot Manipulator Using Linearized Model

다국어 초록 (Multilingual Abstract)

In this paper, we present a multivariable controller for the robot manipulator. By using the linearized model, calculation time is reduced because of the linearized model could relax the nonlinear property. Since the linearized model improve the influence of the modification of the robot dynamic parameters, errors, caused by the variation of dynamics such as the unknown load of a manipulator, nonlinear properties are compensated. By this reason, the presented controller can be adopted in the industrial application. An usual multivariable controller, using pole placement, has relatively a large tracking errors. In order to obtain small tracking errors, rapid response, and stabilize the robot manipulator, the linearized dynamics of the manipulator and PID controller structure are used in the presented controller which is designed via pole placement algorism. To show the suggested controller have rapid trajectory tracking property, and it is not affected by the unknown load and load variation, the simulation results of the 2-link robot manipulator are presented.

목차 (Table of Contents)

• Abstract = 63
• Ⅰ. 서론 = 63
• Ⅱ. 로봇 매니플레이터의 동력학 방정식 및 선형화 = 64
• Ⅲ. 제어기 설계 = 66
• Ⅳ. 시뮬레이션 = 70
• Ⅴ. 결론 = 72
• <참고문헌> = 73