Title :
Position control of a direct-drive arm using novel repetitive control
Author :
Oyama, Jun ; Higuchi, Tsuyoshi ; Abe, Takashi ; Takada, Ryuji ; Yamada, Eiji
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Nagasaki Univ., Japan
fDate :
Sept. 28 1991-Oct. 4 1991
Abstract :
A repetitive control method with a learning process is proposed to drive the horizontal axis direct drive robot arm. The control strategy based on the periodicity of the arm action is applied to not only speed control but also position control in which the arm reciprocates between two arbitrary points. A position-memory type and a time-memory type are proposed. Availability of this repetitive control method is confirmed by experiments.<>
Keywords :
electric drives; industrial robots; machine control; position control; velocity control; direct drive robot arm; machine control; periodicity; position control; repetitive control; speed control; Control systems; Drives; Fluctuations; Motion control; Position control; Process control; Service robots; Three-term control; Torque control; Velocity control;
Conference_Titel :
Industry Applications Society Annual Meeting, 1991., Conference Record of the 1991 IEEE
Conference_Location :
Dearborn, MI, USA
Print_ISBN :
0-7803-0453-5
DOI :
10.1109/IAS.1991.178176
