抄録
A discussion is presented of the joint motion control problem of a multidegrees of freedom manipulator where the interference force should be taken into account. As one solution of this problem, the observer-based position servo system is proposed. The observer can estimate the sum of all the interference torque, and the feedforward path suppresses immediately its influence. As a result, the decentralized autonomous control is expected to be realized by using this servo system as a position controller of each joint.
| 本文言語 | English |
|---|---|
| ページ | 28-33 |
| ページ数 | 6 |
| 出版ステータス | Published - 1986 12月 1 |
ASJC Scopus subject areas
- 工学（全般）