DocumentCode
489445
Title
Position/Force Control of Multi-Axis Robot Manipulator based on the TDOF Robust Servo Controller for Each Joint
Author
Hori, Yoichi ; Shimura, Koji ; Tomizuka, Masayoshi
Author_Institution
Department of Electrical Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo, 113 Tokyo, Japan
fYear
1992
fDate
24-26 June 1992
Firstpage
753
Lastpage
759
Abstract
The aim of this paper is mainly to demonstrate the efficacy of our robot control method without using non-linear compensation using the inverse dynamics. This method is based on the modern Two-Degrees-Of-Freedom (TDOF) robust position servosystem for each joint which has extremely high servo stiffness. We will show the experimental results of various kinds of robot motion controls using the lifesize 6-axis manipulator and DSP based controller.
Keywords
Digital signal processing; Force control; Manipulator dynamics; Motion control; Robot control; Robot motion; Robust control; Robustness; Servomechanisms; Servosystems;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792175
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