Design of a simple and robust control system for a single-link flexible robot arm단일링크 유연성 로보트 팔에 대한 간단하고 강인한 제어기의 설계

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Lightweight robot manipulators have considerable structural flexibility. Hence, the elastic behavior of the robot arms must be considered in control system design. Owing to the complexity of a dynamic model of flexible robots, it is desirable to design a controller simple. Furthermore, since the robot must handle a wide variety of payloads, the robustness of the control system becomes very important. In this thesis, a simple and robust control system is proposed. The closed-loop system is shown to be stable in the sense of Lyapunov and robust to uncertainty in system parameters. The simulation results are presented to show the robustness of the simple controller against payload variations.
Advisors
Kim, Byung-Kookresearcher김병국researcher
Description
한국과학기술원 : 전기 및 전자공학과,
Publisher
한국과학기술원
Issue Date
1992
Identifier
59722/325007 / 000901172
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 전기 및 전자공학과, 1992.2, [ [iii], 58 p. ]

URI
http://hdl.handle.net/10203/38915
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=59722&flag=dissertation
Appears in Collection
EE-Theses_Master(석사논문)
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