Digital implementation of robust μ-control for a robot manipulator

Masayuki Fujita, Toru Namerikawa, Kenko Uchida

研究成果: Conference article査読

抄録

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.

本文言語English
ページ(範囲)2450-2454
ページ数5
ジャーナルProceedings of the American Control Conference
3
出版ステータスPublished - 1994 12 1
外部発表はい
イベントProceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA
継続期間: 1994 6 291994 7 1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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