Robust adaptive control for underactuated robot manipulators수동관절을 가진 로봇 매니퓰레이터에 대한 강인한 적응 제어

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 280
  • Download : 0
Usually, a robot manipulator that has fewer number of joint actuators than the total number of joints is known as an “underactuated robot manipulator”. The underactuated robot manipulator has active joints with actuators and passive joints without actuators. The dynamics and control problems of underactuated robot manipulators with nonholonomic constraints have been being studied from the 1990````s. The control of underactuated robot manipulators has drawn a great attention in recent years. The underactuated robot concept is very useful for the reliability or fault-tolerant design of robot manipulators working with dangerous materials or in remote or hazardous areas such as space, underwater, and nuclear power plants where the repair or replacement of failed actuators is a very difficult task. Since a robot manipulator with failed actuators or failed joints can be considered as an underactuated robot manipulator, the control problem of underactuated robot manipulators can be applied to the fault-tolerant control problem of robot manipulators with failed joints. Then the passive joints of underactuated robot manipulators can be considered as the failed joints of robot manipulators. The reliability and safety based on fault detection and accommodation play a key role in the operation of autonomous and intelligent robotic systems. Fault tolerance is increasingly important for robots, especially those in remote or hazardous environments. Robots need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks without the need for immediate human intervention. This dissertation deals with the problem of designing a robust adaptive controller overcoming the uncertainties for uncertain underactuated robot manipulators that can be used in a fault-tolerant control system for robot manipulators with joint or actuator failures. The controller design method is based on the Lyapunov function approach using the norm-bounded pro...
Advisors
Lee, Ju-Jangresearcher이주장researcher
Description
한국과학기술원 : 전기및전자공학과,
Publisher
한국과학기술원
Issue Date
1999
Identifier
156170/325007 / 000935199
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 전기및전자공학과, 1999.8, [ xxv, 263 p. ]

Keywords

Robotics; Underactuated Robot Manipulators; Joint and Cartesian Control; Robust Adaptive Control; Passive Joints

URI
http://hdl.handle.net/10203/36527
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=156170&flag=dissertation
Appears in Collection
EE-Theses_Ph.D.(박사논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0