HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL.

Masato Nakao, Kiyoshi Ohishi, Kouhei Ohnishi, Kunio Miyachi

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

4 Citations (Scopus)

Abstract

A discussion is presented of the joint motion control problem of a multidegrees of freedom manipulator where the interference force should be taken into account. As one solution of this problem, the observer-based position servo system is proposed. The observer can estimate the sum of all the interference torque, and the feedforward path suppresses immediately its influence. As a result, the decentralized autonomous control is expected to be realized by using this servo system as a position controller of each joint.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages28-33
Number of pages6
Publication statusPublished - 1986

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Servomechanisms
Motion control
Manipulators
Torque
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nakao, M., Ohishi, K., Ohnishi, K., & Miyachi, K. (1986). HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL. In Unknown Host Publication Title (pp. 28-33). IEEE.

HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL. / Nakao, Masato; Ohishi, Kiyoshi; Ohnishi, Kouhei; Miyachi, Kunio.

Unknown Host Publication Title. IEEE, 1986. p. 28-33.

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

Nakao, M, Ohishi, K, Ohnishi, K & Miyachi, K 1986, HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL. in Unknown Host Publication Title. IEEE, pp. 28-33.
Nakao M, Ohishi K, Ohnishi K, Miyachi K. HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL. In Unknown Host Publication Title. IEEE. 1986. p. 28-33
Nakao, Masato ; Ohishi, Kiyoshi ; Ohnishi, Kouhei ; Miyachi, Kunio. / HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL. Unknown Host Publication Title. IEEE, 1986. pp. 28-33
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