• DocumentCode
    3065517
  • Title

    D-C motor driven robotic manipulator control

  • Author

    Won, S.C. ; Lim, D.J. ; Chyung, D.H.

  • Author_Institution
    University of Iowa, Iowa City, Iowa
  • fYear
    1985
  • fDate
    11-13 Dec. 1985
  • Firstpage
    330
  • Lastpage
    333
  • Abstract
    A controller design for a dc motor driven robotic manipulator is presented. The main difficulties are caused by the Coulomb frictions, disturbance due to the gravitational pull and the rather stiff spring effect of the link between the drive motor and the manipulator arm. The objective is to design a feedback controller which ensures zero steady state positioning error. It is shown that the proposed controller gives satisfactory results.
  • Keywords
    Control systems; DC motors; Error correction; Friction; Gears; Manipulators; Robot control; Shafts; Springs; Steady-state;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1985 24th IEEE Conference on
  • Conference_Location
    Fort Lauderdale, FL, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1985.268859
  • Filename
    4048300
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3065517