In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value μ. Then the μ-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.
|ジャーナル||Proceedings of the American Control Conference|
|出版ステータス||Published - 1994 12 1|
|イベント||Proceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA|
継続期間: 1994 6 29 → 1994 7 1
ASJC Scopus subject areas
- Electrical and Electronic Engineering