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

Masato Nakao, Kiyoshi Ohishi, Kouhei Ohnishi, Kunio Miyachi

Research output: Contribution to conferencePaperpeer-review

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
Pages28-33
Number of pages6
Publication statusPublished - 1986 Dec 1

ASJC Scopus subject areas

  • Engineering(all)

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