Rabin & Berdo, P.C.
Computed-torque based controller, parameter determination method thereof and performance analysis method thereof
Provided is a controller of a robot manipulator, a performance analysis method thereof and a parameter determination method thereof. The controller computes an error value of an output value of a control target for a target value through a computational equation and provides a control input value of the control target, and includes an outer loop controller which constitutes closed loop control of the control target, and an inner loop controller which performs feedback linearization to remove nonlinearity of the control target, wherein the computational equation is a linear differential equation designed considering exogenous disturbance acting in the controller and a computational error.
Korea Institute of Science and Technology
G B B G G B
G05B B25J B25J G05B G05B B25J
additional inventional inventional additional additional inventional
Jaeyoung Jung Hoon
Park Kim