The paper presents Recursive Control law and its application to control of robotic manipulators. It includes detailed analysis of both the recursive law itself and the closed-loop system. It is shown that recursive control systems possess the same set of qualities as systems with sliding mode, but avoid their main drawbacks. Moreover, the control law is model-free, very simple, and easy-to-implement. Validity and effectiveness of proposed control are illustrated by experimental results obtained in motion control of a three d.o.f. DD robot.
|出版ステータス||Published - 1992 12月 1|
|イベント||Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA|
継続期間: 1992 7月 13 → 1992 7月 15
|Other||Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)|
|City||San Francisco, CA, USA|
|Period||92/7/13 → 92/7/15|
ASJC Scopus subject areas