• DocumentCode
    3727678
  • Title

    End-effector orientation control of robot manipulators via finite-time P-PI control

  • Author

    Toshiaki Muraki;Naoki Sugito;Yasuyuki Satoh;Hisakazu Nakamura

  • Author_Institution
    Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Chiba, Japan
  • fYear
    2015
  • Firstpage
    131
  • Lastpage
    136
  • Abstract
    Superior performance of nonlinear finite-time P-PI control has been demonstrated in end-effector position control of robot manipulator; however the finite-time P-PI end-effector orientation control is not discussed. In this paper, we propose a finite-time P-PI controller for end-effector orientation control of robot manipulators. By comparing the proposed controller with exponentially stabilizing P-PI controller by experiments, we confirm the effectiveness of the proposed controller.
  • Keywords
    "Kinematics","Robots"
  • Publisher
    ieee
  • Conference_Titel
    Automatic Control Conference (CACS), 2015 International
  • Type

    conf

  • DOI
    10.1109/CACS.2015.7378378
  • Filename
    7378378
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3727678