ROBUST DECENTRALIZED JOINT CONTROL BASED ON INTERFERENCE ESTIMATION.

Masato Nakao, Kouhei Ohnishi, Kunio Miyachi

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

256 Citations (Scopus)

Abstract

The dynamics of a multidegrees-of-freedom manipulator are highly nonlinear and the compensation for this nonlinearity should be indispensible. The authors propose a decentralized joint control method based on the disturbance observer where the dynamical equation is not directly solved. By using information about the acceleration, the nonlinear term in the dynamical equation is estimated without a mathematically complicated process, and as a result, the joints are able to be decoupled and controlled independently of each other by using 16-bit microprocessors. Simulated and experimental results are presented to confirm the industrial viability of this method.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages326-331
Number of pages6
ISBN (Print)0818607874
Publication statusPublished - 1987

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Manipulators
Microprocessor chips
Compensation and Redress

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nakao, M., Ohnishi, K., & Miyachi, K. (1987). ROBUST DECENTRALIZED JOINT CONTROL BASED ON INTERFERENCE ESTIMATION. In Unknown Host Publication Title (pp. 326-331). IEEE.

ROBUST DECENTRALIZED JOINT CONTROL BASED ON INTERFERENCE ESTIMATION. / Nakao, Masato; Ohnishi, Kouhei; Miyachi, Kunio.

Unknown Host Publication Title. IEEE, 1987. p. 326-331.

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

Nakao, M, Ohnishi, K & Miyachi, K 1987, ROBUST DECENTRALIZED JOINT CONTROL BASED ON INTERFERENCE ESTIMATION. in Unknown Host Publication Title. IEEE, pp. 326-331.
Nakao M, Ohnishi K, Miyachi K. ROBUST DECENTRALIZED JOINT CONTROL BASED ON INTERFERENCE ESTIMATION. In Unknown Host Publication Title. IEEE. 1987. p. 326-331
Nakao, Masato ; Ohnishi, Kouhei ; Miyachi, Kunio. / ROBUST DECENTRALIZED JOINT CONTROL BASED ON INTERFERENCE ESTIMATION. Unknown Host Publication Title. IEEE, 1987. pp. 326-331
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AB - The dynamics of a multidegrees-of-freedom manipulator are highly nonlinear and the compensation for this nonlinearity should be indispensible. The authors propose a decentralized joint control method based on the disturbance observer where the dynamical equation is not directly solved. By using information about the acceleration, the nonlinear term in the dynamical equation is estimated without a mathematically complicated process, and as a result, the joints are able to be decoupled and controlled independently of each other by using 16-bit microprocessors. Simulated and experimental results are presented to confirm the industrial viability of this method.

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