An advanced approach of servo control in industrial robot

Toshiyuki Murakami; Kouhei Ohnishi

doi:10.1109/IROS.1988.593350

An advanced approach of servo control in industrial robot

Toshiyuki Murakami, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

The paper summarizes the various aspects of the advanced servo system in the robot control. The analyzed controller is based on the disturbance observer. There are two main merits in this controller. One is that the disturbance observer takes the place of the inverse dynamics. The other is that the disturbance observer also works as a state analyzer. These two functions add the intelligent elements to the servo controller. Several numerical and experimental results are also shown.

Original language	English
Article number	593350
Pages (from-to)	379-384
Number of pages	6
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	1988-October
DOIs	https://doi.org/10.1109/IROS.1988.593350
Publication status	Published - 1988
Event	1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan Duration: 1988 Oct 31 → 1988 Nov 2

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.1988.593350

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title = "An advanced approach of servo control in industrial robot",

abstract = "The paper summarizes the various aspects of the advanced servo system in the robot control. The analyzed controller is based on the disturbance observer. There are two main merits in this controller. One is that the disturbance observer takes the place of the inverse dynamics. The other is that the disturbance observer also works as a state analyzer. These two functions add the intelligent elements to the servo controller. Several numerical and experimental results are also shown.",

author = "Toshiyuki Murakami and Kouhei Ohnishi",

note = "Publisher Copyright: {\textcopyright} 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).; 1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 ; Conference date: 31-10-1988 Through 02-11-1988",

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AB - The paper summarizes the various aspects of the advanced servo system in the robot control. The analyzed controller is based on the disturbance observer. There are two main merits in this controller. One is that the disturbance observer takes the place of the inverse dynamics. The other is that the disturbance observer also works as a state analyzer. These two functions add the intelligent elements to the servo controller. Several numerical and experimental results are also shown.

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ER -

An advanced approach of servo control in industrial robot

Abstract

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