Control of robotic manipulators by joint acceleration controller

Satoshi Komada, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review


The authors propose a simple and high-performance motion control method for robot manipulators in Cartesian coordinates. It is called the acceleration tracing orientation method (ATOM). In the proposed method, it is necessary that each joint should trace the specified acceleration. A high-performance position controller and a hybrid position/force controller are easily realized by the ATOM. Analyses of the controller reveal that the precise acceleration controller is the key to improving the performance of the ATOM. However, an acceleration controller is almost impossible to realize by using conventional disturbance compensation methods. For example, the inverse dynamics is complicated to calculate and is weak against parameter variations. In contrast to the inverse dynamics, a disturbance observer method is simple and robust against the parameter variations and makes possible a high-performance acceleration controller. Experimental results show the effectiveness of the ATOM.

Original languageEnglish
Number of pages6
Publication statusPublished - 1989 Dec 1
Event15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA
Duration: 1989 Nov 61989 Nov 10


Other15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1
CityPhiladelphia, PA, USA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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