Recursive control of robotic manipulators

M. Ostojic, A. Sabanovic, K. Ohnishi

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

Abstract

The paper presents Recursive Control law and its application to control of robotic manipulators. It includes detailed analysis of both the recursive law itself and the closed-loop system. It is shown that recursive control systems possess the same set of qualities as systems with sliding mode, but avoid their main drawbacks. Moreover, the control law is model-free, very simple, and easy-to-implement. Validity and effectiveness of proposed control are illustrated by experimental results obtained in motion control of a three d.o.f. DD robot.

Original languageEnglish
Title of host publicationProc 92 Jpn USA Symp Flexible Autom
PublisherPubl by ASME
Pages607-613
Number of pages7
Publication statusPublished - 1992
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
Duration: 1992 Jul 131992 Jul 15

Other

OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)
CitySan Francisco, CA, USA
Period92/7/1392/7/15

Fingerprint

Manipulators
Robotics
Motion control
Closed loop systems
Robots
Control systems

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ostojic, M., Sabanovic, A., & Ohnishi, K. (1992). Recursive control of robotic manipulators. In Proc 92 Jpn USA Symp Flexible Autom (pp. 607-613). Publ by ASME.

Recursive control of robotic manipulators. / Ostojic, M.; Sabanovic, A.; Ohnishi, K.

Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, 1992. p. 607-613.

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

Ostojic, M, Sabanovic, A & Ohnishi, K 1992, Recursive control of robotic manipulators. in Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, pp. 607-613, Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, 92/7/13.
Ostojic M, Sabanovic A, Ohnishi K. Recursive control of robotic manipulators. In Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME. 1992. p. 607-613
Ostojic, M. ; Sabanovic, A. ; Ohnishi, K. / Recursive control of robotic manipulators. Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, 1992. pp. 607-613
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