DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR.

Masato Nakao, Kouhei Ohnishi, Kunio Miyachi

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

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 languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages50-56
Number of pages7
Publication statusPublished - 1987

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nakao, M., Ohnishi, K., & Miyachi, K. (1987). DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR. In Unknown Host Publication Title (pp. 50-56). IEEE.