지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,049 - 1,054 (6page)
이용수
초록· 키워드
오류제보하기
In this paper, a new decoupling control scheme of 2-link industrial manipulator with application of the model following control has been proposed. Compensation torque used for removing interference force between two arms of the manipulator has been designed in feed-forward control loop. Compared with the conventional scheme, the proposed scheme is more simple and realistic to be taken in to practice for general purpose controllers. And, a new design consideration for control gains has also been shown. Moreover, disturbance observer is applied to cope with model error problem in feed-back control loop. Effectiveness of the proposed decoupling control scheme has been confirmed through simulation results.
목차
Abstract
1. INTRODUCTION
2. NUMERICAL MODEL OF 2-LINK MANIPULATOR
3. DESIGN OF FEED-FORWARD(FF) CONTROL LOOP
4. DESIGN OF FEED-BACK (FB) CONTROL LOOP
5. VERIFICATION OF SIMULATION
6. CONCLUSIONS
REFERENCES
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