DocumentCode
2845733
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
fYear
1991
fDate
Sept. 28 1991-Oct. 4 1991
Firstpage
336
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IAS.1991.178176
Filename
178176
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