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
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;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126295
