Control of robotic manipulators by joint acceleration controller

Satoshi Komada, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherPubl by IEEE
Pages623-628
Number of pages6
Volume3
Publication statusPublished - 1989
Externally publishedYes
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

Manipulators
Robotics
Controllers
Motion control
Robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Komada, S., & Ohnishi, K. (1989). Control of robotic manipulators by joint acceleration controller. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 623-628). Publ by IEEE.

Control of robotic manipulators by joint acceleration controller. / Komada, Satoshi; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 3 Publ by IEEE, 1989. p. 623-628.

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

Komada, S & Ohnishi, K 1989, Control of robotic manipulators by joint acceleration controller. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 3, Publ by IEEE, pp. 623-628, 15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1, Philadelphia, PA, USA, 89/11/6.
Komada S, Ohnishi K. Control of robotic manipulators by joint acceleration controller. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 3. Publ by IEEE. 1989. p. 623-628
Komada, Satoshi ; Ohnishi, Kouhei. / Control of robotic manipulators by joint acceleration controller. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 3 Publ by IEEE, 1989. pp. 623-628
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