Design of an Adaptive Robust Control System for an Underactuated Robot Manipulator with Uncertainties
Design of an Adaptive Robust Control System for an Underactuated Robot Manipulator with Uncertainties
- 동의대학교 정보통신연구소
- 정보통신연구지
- 제6-2집
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2005.02127 - 134 (8 pages)
- 2
This paper presents a design methodology of an adaptive robust control system for an underactuated robot manipulator with uncertainties using brakes equipped at passive joints. The proposed joint control scheme has two control modes with a passive joint control and an active joint control, and one braking mode to lock all passive joints at their desired set-points. To verify the feasibility and validity of the proposed controller, experimental results for an actual SCARA robot with three degrees of freedom are shown. In this robot experiment, the third joint of this robot is passive.
Abstract
1. Introduction
2. Dynamic Model of an Underactuated Robot Manipulator
3. Design of an Adaptive Robust Control System
4. Experimental Study
5. Conclusions
References
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