Cart (Loading....) | Create Account
Close category search window
 

Robot manipulator control with joint interaction estimation

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
$31 $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

2 Author(s)
Mohadjer, M. ; McDonnell Douglas Space Syst. Co., Huntsville, AL, USA ; Khoogar, A.

The authors present a localized linear control scheme for multijoint robot manipulators based on the estimation of the neighboring joint interactions and nonlinear terms in the joint dynamics. The interaction estimation at each joint is achieved using a linear dynamic process which generates a force waveform that closely represents the neighboring joint interactions and all the nonlinear forces in the joint dynamics. To illustrate the proposed control scheme, a single two-link robot manipulator example is used. The simulation results show improvement over the simple PID (proportional-integral-derivative) controller

Published in:

Southeastcon '91., IEEE Proceedings of

Date of Conference:

7-10 Apr 1991

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.