公开(公告)号：KR1020110066262A

公开(公告)日：2011-06-17

申请号：KR1020090122832

申请日：2009-12-11

Applicant: 한국과학기술원

Inventor： 장평훈 ,  조건래

IPC: G06F19/00 ,  G06F17/10

CPC classification number: B25J9/1648 ,  G06F17/10

Abstract: PURPOSE: A robust tracking model under non-linear friction utilizing time delay control with an internal model is provided to improve the performance of the time delay control based on the perfect control characteristics of internal model control by applying an internal model in the time delay control. CONSTITUTION: Demand error dynamic mechanics about each joint is decided. Demand natural frequency and damping constant are selected. A sampling time interval of a closed loop system is selected in consideration of the speed of the hardware of a controller.

Abstract translation: 目的：提出利用内部模型的时间延迟控制下非线性摩擦的鲁棒跟踪模型，通过在时间延迟控制中应用内部模型，提高基于内部模型控制的完美控制特性的时间延迟控制性能 。 构成：决定每个关节的需求误差动​​力学。 选择需求固有频率和阻尼常数。 考虑到控制器硬件的速度来选择闭环系统的采样时间间隔。