DocumentCode
3408229
Title
An experimental study on digital control of planer manipulators
Author
Nishino, Takayoshi ; Kusumoto, Yoshiharu ; Fujioka, Hisaya
Author_Institution
Graduate Sch. of Informatics, Kyoto Univ., Japan
Volume
5
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
3012
Abstract
In this paper, a position control problem for a planer manipulator is considered. A sufficient condition for asymptotical stability of a manipulator with digital PD feedback control law has been derived recently. This paper presents some experimental results with a SICE DD arm in order to verify the stability theory.
Keywords
PD control; feedback; manipulators; position control; stability; asymptotical stability; digital PD feedback control law; digital control; planer manipulators; position control problem; sufficient condition; Digital control; Feedback control; Manipulator dynamics; Metalworking machines; PD control; Position control; Robust control; Sampling methods; Stability; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195585
Filename
1195585
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