Variation of Modified Simple Adaptive Control for a Two-Link Planar Robot : 변형된 수정단순적응제어기의 2축 평면 로봇팔 적용

다국어 초록 (Multilingual Abstract)

This paper proposes an adaptive control law to enable the end effector of a 2-link planar robot manipulator to track a square path. The proposed control law is similar to the Modified Simple Adaptive Control (MSAC) law, but by adding a weighting function to gains of the MSAC, we cope with the case that the error is large like the position of end effector away from the desired path. By adding a weighting function, we improve the sensitivity of the adaptive gains to error. Stability analysis showed that the system is asymptotically stable and that the controller can regulate errors to zero. In simulations, the modified method improved adaptation to errors and reducing the control torque, while maintaining a similar tracking result.

목차 (Table of Contents)

• 1. Introduction 1
• 1.1 Introduction 1
• 1.2 Thesis Overview 4
• 2. Preliminaries 5
• 2.1 Jacobian Matrix 5
• 2.2 Robot Manipulator Dynamics 7
• 2.3 Task Space Controller 10
• 3. Controller Design 12
• 3.1 Simple Adaptive Control, review 13
• 3.2 Modified Simple Adaptive Control, review 16
• 3.3 Variation of Modified Simple Adaptive Control 18
• 3.4 Stability 22
• 3.4.1 Prerequisite 22
• 3.4.2 Stability Analysis 25
• 4. Simulation Result 28
• 5. Conclusion 35
• Summary (in Korean) 36
• References 38
• Acknowledgements (in Korean) 41