Control of robotic manipulators by joint acceleration controller

Satoshi Komada, Kouhei Ohnishi

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

The authors propose a simple and high-performance motion control method for robot manipulators in Cartesian coordinates. It is called the acceleration tracing orientation method (ATOM). In the proposed method, it is necessary that each joint should trace the specified acceleration. A high-performance position controller and a hybrid position/force controller are easily realized by the ATOM. Analyses of the controller reveal that the precise acceleration controller is the key to improving the performance of the ATOM. However, an acceleration controller is almost impossible to realize by using conventional disturbance compensation methods. For example, the inverse dynamics is complicated to calculate and is weak against parameter variations. In contrast to the inverse dynamics, a disturbance observer method is simple and robust against the parameter variations and makes possible a high-performance acceleration controller. Experimental results show the effectiveness of the ATOM.

本文言語English
ページ623-628
ページ数6
出版ステータスPublished - 1989 12 1
イベント15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA
継続期間: 1989 11 61989 11 10

Other

Other15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1
CityPhiladelphia, PA, USA
Period89/11/689/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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