Robust Motion Control Method Considering Saturation of Joint Torque and Joint Servo System

IEEJ Transactions on Industry Applications

Volumn 118, Issue 1, 1998, Pages 38-44

  Ohishi, Kiyoshi ^a   Kaewprom, Wimonphan ^a   Someno, Tohru ^a  

^a NAGAOKA UNIVERSITY OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0012612015     PISSN: 09136339     EISSN: 13488163     Source Type: Journal    
DOI: 10.1541/ieejias.118.38     Document Type: Article

References (3)

1. H. Arai, K. Tanie and S. Tachi: “Path Tracking Control of a Manipulator Considering Torque Saturation,” IEEE. Trans. Industrial Electronics, Vol. IE-40, No. 1, pp. 25-31, 1994.
2. W. Kaewprom, K. Ohishi and K. Akahori: “Robust Manipulator Control Method Considering Saturation of Joint Torque and Controller Output,” The 3rd International Conference on Motion and Vibration Control Vol. 2, pp. 196-201, 1996.
3. O. Dahlh: “Path-Constrained Robot Control with Limited Torques-Experimental Evaluation,” IEEE. Trans. Robotics and Automation, Vol. IE-10, No. 5, pp. 658-669, 1994.