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 language | English |
|---|---|
| Title of host publication | Proc 92 Jpn USA Symp Flexible Autom |
| Publisher | Publ by ASME |
| Pages | 607-613 |
| Number of pages | 7 |
| Publication status | Published - 1992 |
| Event | Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA Duration: 1992 Jul 13 → 1992 Jul 15 |
Other
| Other | Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) |
|---|---|
| City | San Francisco, CA, USA |
| Period | 92/7/13 → 92/7/15 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Recursive control of robotic manipulators
AU - Ostojic, M.
AU - Sabanovic, A.
AU - Ohnishi, K.
PY - 1992
Y1 - 1992
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0026983617&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0026983617&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0026983617
SP - 607
EP - 613
BT - Proc 92 Jpn USA Symp Flexible Autom
PB - Publ by ASME
ER -