DocumentCode
2525881
Title
Plug in repetitive control for industrial robotic manipulators
Author
Cosner, C. ; Anwar, G. ; Tomizuka, M.
Author_Institution
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
1970
Abstract
The implementation of plug-in repetitive control on the direct drive axis of a prototype GMF A500 robot is considered. Plug-in repetitive control was developed and implemented using an IBM AT. A multirate sampling algorithm was designed to reduce the memory requirements of repetitive control. A microcontroller board based on the Intel 8096 was designed so that plug-in repetitive control could be applied from a small unit embedded within the KAREL controller. In each application, experimental results show that the tracking error is smoothly absorbed in a few cycles
Keywords
controllers; industrial robots; microcomputer applications; GMF A500 robot; IBM AT; Intel 8096; KAREL controller; industrial robotic manipulators; microcontroller board; multirate sampling algorithm; plug-in repetitive control; Delay effects; Error correction; Industrial control; Manipulators; Microcontrollers; Plugs; Prototypes; Robot control; Sampling methods; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126295
Filename
126295
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