DocumentCode
2538095
Title
Output control of actuator based on dynamic impedance matching
Author
Kobayashi, Shigeru ; Takamori, Toshi
Author_Institution
Graduate Sch. of Sci. & Technol., Kobe Univ., Japan
fYear
1993
fDate
17-20 Oct 1993
Firstpage
441
Abstract
If the actuators can work stably and their output characteristics are robust with varying load at the certain range of frequency, one can make real general-purpose robots by installing this type of actuator to drive the joints of robot arms. In this paper, first the authors present their proposed robust control method based on dynamic impedance matching to make the actuator output not influenced by load variation or frequency. Also the stability of this control system is studied and evaluated by simulation
Keywords
actuators; robots; robust control; actuator; dynamic impedance matching; general-purpose robots; output control; robot arms; robust control; stability; Actuators; Control system synthesis; Frequency; Impedance matching; Load management; Manipulators; Robots; Robust control; Robustness; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location
Le Touquet
Print_ISBN
0-7803-0911-1
Type
conf
DOI
10.1109/ICSMC.1993.384783
Filename
384783
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