Title :
Tracking control of nonlinear direct drive arm via just-in-time method
Author :
Komura, Daisuke ; Ushida, Shun ; Zheng, Qiubao ; Kimura, Hidenori
Author_Institution :
Univ. of Tokyo, Japan
Abstract :
This paper is concerned with the tracking control of nonlinear two-links direct drive (DD) arm based on just-in-time method, also known as JIT control. In order to validate JIT control, we apply it to numerical DD arm simulator. In this paper, we show the results of the experiments and investigate the possibility of applying JIT control to an actual DD arm.
Keywords :
manipulators; nonlinear control systems; tracking; JIT control; just-in-time method; nonlinear two-links direct drive arm; numerical DD arm simulator; tracking control; Artificial intelligence; Control systems; Costs; Large-scale systems; Microcomputers; Nonlinear control systems; Nonlinear systems; Numerical simulation; Predictive models; Vectors;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195503
