Simplification of inverse kinematics routine of robot manipulators using disturbance observer in task space

Satoshi Komada, Jeongho Shin, Muneaki Ishida, Kouhei Ohnishi, Takamasa Hori

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

The authors propose a simple high-performance control strategy based on disturbance compensation by the disturbance observer in task space. The disturbance observers makes robot manipulators linear in task space and realizes acceleration control. The inverse kinematics routine can be simplified, because the disturbance observer compensates not only to the disturbance but also to the error due to the simplification of the inverse kinematics routine. The strategy was applied to a three-degree-of-freedom direct drive robot to show its effectiveness experimentally.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Publ by IEEE
ページ1381-1386
ページ数6
ISBN(印刷版)0818627204
出版ステータスPublished - 1992 12月 1
イベントProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
継続期間: 1992 5月 121992 5月 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2

Other

OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/5/1292/5/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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