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 |
|---|---|
| Title of host publication | Unknown Host Publication Title |
| Publisher | IEEE |
| Pages | 50-56 |
| Number of pages | 7 |
| Publication status | Published - 1987 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR. / Nakao, Masato; Ohnishi, Kouhei; Miyachi, Kunio.
Unknown Host Publication Title. IEEE, 1987. p. 50-56.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR.
AU - Nakao, Masato
AU - Ohnishi, Kouhei
AU - Miyachi, Kunio
PY - 1987
Y1 - 1987
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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0023173135&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0023173135&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0023173135
SP - 50
EP - 56
BT - Unknown Host Publication Title
PB - IEEE
ER -