DECENTRALIZED JOINT CONTROL OF ROBOTIC MANIPULATOR.

Masato Nakao, Kouhei Ohnishi, Kunio Miyachi

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

An observer-based interference estimation approach is presented in which the observer can estimate the total interference torque quickly without complicated computations such as inverse dynamics. The estimated interference is supplied to the servomotor, enabling a robust motion servosystem that is not affected by nonlinear effects to be achieved. Each joint is controlled independently and in a decentralized manner. A description is given of the decentralized control design conception. Simulated and experimental results for a three-degree-of-freedom manipulator are shown.

本文言語English
ページ50-56
ページ数7
出版ステータスPublished - 1987 1 1

ASJC Scopus subject areas

  • 工学(全般)

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