ROBUST DECENTRALIZED JOINT CONTROL BASED ON INTERFERENCE ESTIMATION.

Masato Nakao, Kouhei Ohnishi, Kunio Miyachi

研究成果: Conference contribution

275 被引用数 (Scopus)

抄録

The dynamics of a multidegrees-of-freedom manipulator are highly nonlinear and the compensation for this nonlinearity should be indispensible. The authors propose a decentralized joint control method based on the disturbance observer where the dynamical equation is not directly solved. By using information about the acceleration, the nonlinear term in the dynamical equation is estimated without a mathematically complicated process, and as a result, the joints are able to be decoupled and controlled independently of each other by using 16-bit microprocessors. Simulated and experimental results are presented to confirm the industrial viability of this method.

本文言語English
ホスト出版物のタイトルUnknown Host Publication Title
出版社IEEE
ページ326-331
ページ数6
ISBN(印刷版)0818607874
出版ステータスPublished - 1987 1 1

ASJC Scopus subject areas

  • Engineering(all)

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