Abstract
A simple and high performance motion control method for robot manipulators in task-oriented coordinates is proposed. In this method, it is necessary that a controller for each joint generates a specified acceleration. To extend the result to robot manipulators with multiple degrees of freedom (DOF), the acceleration tracing orientation method (ATOM) is used. The ATOM is a controller design method in task-oriented space. A high performance position controller and hybrid position/force controller are easily realized by the ATOM. From the analyses of the controllers, it is known that a precise acceleration controller is the key to improving the performance of the ATOM. Realization of a strict acceleration controller, however, is almost impossible using conventional disturbance compensation methods. For example, inverse dynamics involves complicated calculations and is susceptible to parameter variations. Recent research on a disturbance observer has enabled the realization of an acceleration controller. Contrary to inverse dynamics, the observer is simple and robust against parameter variations. A high performance acceleration controller is realized by the disturbance observer. The effectiveness of the ATOM is shown by some experiments performed with a 3-DOF robot.
| Original language | English |
|---|---|
| Pages (from-to) | 41-56 |
| Number of pages | 16 |
| Journal | Advanced Robotics |
| Volume | 7 |
| Issue number | 1 |
| Publication status | Published - 1993 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Motion control of robot manipulators by a joint acceleration controller. / Komada, Satoshi; Ohnishi, Kouhei.
In: Advanced Robotics, Vol. 7, No. 1, 1993, p. 41-56.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Motion control of robot manipulators by a joint acceleration controller
AU - Komada, Satoshi
AU - Ohnishi, Kouhei
PY - 1993
Y1 - 1993
N2 - A simple and high performance motion control method for robot manipulators in task-oriented coordinates is proposed. In this method, it is necessary that a controller for each joint generates a specified acceleration. To extend the result to robot manipulators with multiple degrees of freedom (DOF), the acceleration tracing orientation method (ATOM) is used. The ATOM is a controller design method in task-oriented space. A high performance position controller and hybrid position/force controller are easily realized by the ATOM. From the analyses of the controllers, it is known that a precise acceleration controller is the key to improving the performance of the ATOM. Realization of a strict acceleration controller, however, is almost impossible using conventional disturbance compensation methods. For example, inverse dynamics involves complicated calculations and is susceptible to parameter variations. Recent research on a disturbance observer has enabled the realization of an acceleration controller. Contrary to inverse dynamics, the observer is simple and robust against parameter variations. A high performance acceleration controller is realized by the disturbance observer. The effectiveness of the ATOM is shown by some experiments performed with a 3-DOF robot.
AB - A simple and high performance motion control method for robot manipulators in task-oriented coordinates is proposed. In this method, it is necessary that a controller for each joint generates a specified acceleration. To extend the result to robot manipulators with multiple degrees of freedom (DOF), the acceleration tracing orientation method (ATOM) is used. The ATOM is a controller design method in task-oriented space. A high performance position controller and hybrid position/force controller are easily realized by the ATOM. From the analyses of the controllers, it is known that a precise acceleration controller is the key to improving the performance of the ATOM. Realization of a strict acceleration controller, however, is almost impossible using conventional disturbance compensation methods. For example, inverse dynamics involves complicated calculations and is susceptible to parameter variations. Recent research on a disturbance observer has enabled the realization of an acceleration controller. Contrary to inverse dynamics, the observer is simple and robust against parameter variations. A high performance acceleration controller is realized by the disturbance observer. The effectiveness of the ATOM is shown by some experiments performed with a 3-DOF robot.
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UR - http://www.scopus.com/inward/citedby.url?scp=0027147670&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0027147670
VL - 7
SP - 41
EP - 56
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 1
ER -