Advanced motion control in robotics

Kouhei Ohnishi, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Citations (Scopus)

Abstract

An analysis of robustness and a design principle for advanced motion control in robotics are presented. The performance of motion control in a single joint is evaluated according to its robustness. A robust control technique for robotic motion is developed. For quick recovery, the feedforward loop compensates the interactive torque, which the observer identifies with a certain time delay. If the time delay of the observer is negligibly small, an acceleration controller is realized. In the observer-based system, it is possible to show that this delay also determines the sensitivity function, which is the index of how the controller reduces the effect of not only the interactive torque but also the parameter variations. In a multi-degree-of-freedom motion system, the total mechanical system is described by the dynamical equations and the kinematic equations. If a drive system in each joint is an observer-based acceleration controller, only the kinematics need be taken into account in the motion control. Several examples in robotics of motion systems applied to position control and force control systems are discussed.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherPubl by IEEE
Pages356-359
Number of pages4
Volume2
Publication statusPublished - 1989
Event15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA
Duration: 1989 Nov 61989 Nov 10

Other

Other15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1
CityPhiladelphia, PA, USA
Period89/11/689/11/10

Fingerprint

Motion control
Robotics
Robustness (control systems)
Controllers
Time delay
Kinematics
Torque
Force control
Position control
Robust control
Control systems
Recovery

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Ohnishi, K., & Murakami, T. (1989). Advanced motion control in robotics. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 356-359). Publ by IEEE.

Advanced motion control in robotics. / Ohnishi, Kouhei; Murakami, Toshiyuki.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 2 Publ by IEEE, 1989. p. 356-359.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ohnishi, K & Murakami, T 1989, Advanced motion control in robotics. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 2, Publ by IEEE, pp. 356-359, 15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1, Philadelphia, PA, USA, 89/11/6.
Ohnishi K, Murakami T. Advanced motion control in robotics. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 2. Publ by IEEE. 1989. p. 356-359
Ohnishi, Kouhei ; Murakami, Toshiyuki. / Advanced motion control in robotics. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 2 Publ by IEEE, 1989. pp. 356-359
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