제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Two-stage robust model following control of robot manipulators

  • Osuka, Koichi (Department of Mechanical Engineering, University of Osaka Prefecture) ;
  • Sugie, Toshiharu (Department of Mechanical Engineering, University of Osaka Prefecture) ;
  • Ono, Toshiro (Department of Mechanical Engineering, University of Osaka Prefecture)
  • Published : 1987.10.01
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Abstract

This paper is concerned with a robust model following control scheme for manipulators which contains uncertain terms. Our method consists of nonlinear compensation and linear compensation. The former ensures the robustness of the plant, the later achieves both the desired model following response and the desired initial error convergence.

Keywords