Title :
High performance motion control based on model following acceleration joint control method
Author :
Ohishi, Kiyoshi ; Ogino, Yasumasa ; Hot, Masaaki
Author_Institution :
Osaka Inst. of Technol., Japan
Abstract :
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
Keywords :
acceleration control; control nonlinearities; decentralised control; model reference adaptive control systems; robots; MRAC; MRACS; acceleration joint control method; continuous-path tracking method; decentralized control; dynamical nonlinearity; model-following control; motion control; multi-degree-of-freedom robot manipulators; rotary encoder; Acceleration; Control system synthesis; Control systems; Force control; Friction; Manipulator dynamics; Motion control; Servomechanisms; Servomotors; Torque control;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100234
