DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR.

Masato Nakao; Kouhei Ohnishi; Kunio Miyachi

DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR.

Masato Nakao, Kouhei Ohnishi, Kunio Miyachi

Department of System Design Engineering

Research output: Contribution to conference › Paper

2 Citations (Scopus)

Abstract

An observer-based interference estimation approach is presented in which the observer can estimate the total interference torque quickly without complicated computations such as inverse dynamics. The estimated interference is supplied to the servomotor, enabling a robust motion servosystem that is not affected by nonlinear effects to be achieved. Each joint is controlled independently and in a decentralized manner. A description is given of the decentralized control design conception. Simulated and experimental results for a three-degree-of-freedom manipulator are shown.

Original language	English
Pages	50-56
Number of pages	7
Publication status	Published - 1987 Jan 1

ASJC Scopus subject areas

Engineering(all)

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Nakao, M., Ohnishi, K., & Miyachi, K. (1987). DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR.. 50-56.

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N2 - An observer-based interference estimation approach is presented in which the observer can estimate the total interference torque quickly without complicated computations such as inverse dynamics. The estimated interference is supplied to the servomotor, enabling a robust motion servosystem that is not affected by nonlinear effects to be achieved. Each joint is controlled independently and in a decentralized manner. A description is given of the decentralized control design conception. Simulated and experimental results for a three-degree-of-freedom manipulator are shown.

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