Title :
Position/Force Control of Multi-Axis Robot Manipulator based on the TDOF Robust Servo Controller for Each Joint
Author :
Hori, Yoichi ; Shimura, Koji ; Tomizuka, Masayoshi
Author_Institution :
Department of Electrical Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo, 113 Tokyo, Japan
Abstract :
The aim of this paper is mainly to demonstrate the efficacy of our robot control method without using non-linear compensation using the inverse dynamics. This method is based on the modern Two-Degrees-Of-Freedom (TDOF) robust position servosystem for each joint which has extremely high servo stiffness. We will show the experimental results of various kinds of robot motion controls using the lifesize 6-axis manipulator and DSP based controller.
Keywords :
Digital signal processing; Force control; Manipulator dynamics; Motion control; Robot control; Robot motion; Robust control; Robustness; Servomechanisms; Servosystems;
Conference_Titel :
American Control Conference, 1992
Conference_Location :
Chicago, IL, USA
Print_ISBN :
0-7803-0210-9
