TY - JOUR
T1 - An advanced approach of servo control in industrial robot
AU - Murakami, Toshiyuki
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).
PY - 1988
Y1 - 1988
N2 - The paper summarizes the various aspects of the advanced servo system in the robot control. The analyzed controller is based on the disturbance observer. There are two main merits in this controller. One is that the disturbance observer takes the place of the inverse dynamics. The other is that the disturbance observer also works as a state analyzer. These two functions add the intelligent elements to the servo controller. Several numerical and experimental results are also shown.
AB - The paper summarizes the various aspects of the advanced servo system in the robot control. The analyzed controller is based on the disturbance observer. There are two main merits in this controller. One is that the disturbance observer takes the place of the inverse dynamics. The other is that the disturbance observer also works as a state analyzer. These two functions add the intelligent elements to the servo controller. Several numerical and experimental results are also shown.
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U2 - 10.1109/IROS.1988.593350
DO - 10.1109/IROS.1988.593350
M3 - Conference article
AN - SCOPUS:0142164460
SN - 2153-0858
VL - 1988-October
SP - 379
EP - 384
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
M1 - 593350
T2 - 1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988
Y2 - 31 October 1988 through 2 November 1988
ER -