이재승, 권정한, 구남국, 함승호, 차주환, 이규열, 노명일, "적응 제어 기반의 Portable 용접 로봇 시뮬레이터 개발", 2008년도 대한조선학회 춘계학술발표회, 제주, pp. 1958-1966, 2008.05.29-30
Domestic Conference
2013.12.04 17:22
이재승, 권정한, 구남국, 함승호, 차주환, 이규열, 노명일, "적응 제어 기반의 Portable 용접 로봇 시뮬레이터 개발", 2008년도 대한조선학회 춘계학술발표회, 제주, pp. 1958-1966, 2008.05.29-30
조회 수 9465
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| Abstract | In the process of designing a robot, the design concept is frequently changed. And it is always considered to verify that the new design robot can move along desired path and can be fully controlled. In this paper, to minimize the error between target angles and real angles, the Computed Torque Control is carried out. The Computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler Equation. To minimize the error between the real model and the approximated model, the Adaptive Control is carried out. During this simulation, the interference check is carried out. The interference check verifies that the robot moves without any collision. |
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| Publication Date | 2008-05-29 |
