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In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve th...
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RISS 인기검색어
https://www.riss.kr/link?id=A76102482
- 저자
- 발행기관
- 학술지명
- 권호사항
-
발행연도
1995
-
작성언어
Korean
- 주제어
-
KDC
454
-
등재정보
KCI등재
-
자료형태
학술저널
- 발행기관 URL
-
수록면
30-40(11쪽)
- 제공처
- 소장기관
-
0
상세조회 -
0
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부가정보
다국어 초록 (Multilingual Abstract)
In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.
In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.
동일학술지(권/호) 다른 논문
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- 1995
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- 1995
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-
Advanced Offshore Pipelaying Analysis Techniques Part 2 : Laybarge Methods
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-
- 한국해양공학회
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- 1995
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