DocumentCode
3085887
Title
On a simplified joint controller design for robot manipulators
Author
Hsia, T.C.
Author_Institution
University of California, Davis, CA
Volume
26
fYear
1987
fDate
9-11 Dec. 1987
Firstpage
1024
Lastpage
1025
Abstract
A simple controller design approach is introduced which provides linear decoupled joint motion control for a robot manipulator. The main idea is to treat each joint as a simple second order linear system with all the nonlinear and coupling effects viewed as disturbance. By employing a simple disturbance estimation/rejection procedure, highly robust independent joint control can be achieved.
Keywords
Computer simulation; Couplings; Force control; Gravity; Manipulators; Motion control; Robot control; Robust control; Torque control; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1987. 26th IEEE Conference on
Conference_Location
Los Angeles, California, USA
Type
conf
DOI
10.1109/CDC.1987.272551
Filename
4049428
Link To Document