By Topic

High performance motion control based on model following acceleration joint control method

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
K. Ohishi ; Osaka Inst. of Technol., Japan ; Y. Ogino ; M. Hotta

A decentralized manipulator joint control is proposed, based on the model-following acceleration control system which is constructed using only the information from a rotary encoder. When each joint of the robot manipulator is regulated by the proposed acceleration control system, it is not affected by its dynamical nonlinearity and is controlled independently. A continuous-path tracking method for fast-motion control is also designed using the acceleration control. Experimental and numerical examples show that the proposed acceleration control method is valid for multi-degree-of-freedom robot manipulators

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989