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

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

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

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