Torque Sensorless Control in Multidegree-of-Freedom Manipulator

IEEE Transactions on Industrial Electronics

Volumn 40, Issue 2, 1993, Pages 259-265

  Murakam, Toshiyuki ^a   Yu, Fangming ^a   Ohnishi, Kouhei ^a  

^a KEIO UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); FORCE CONTROL; NUMERICAL ANALYSIS;

CENSORLESS CONTROL;

MANIPULATORS;

EID: 0027585245     PISSN: 02780046     EISSN: 15579948     Source Type: Journal    
DOI: 10.1109/41.222648     Document Type: Article

References (8)

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3. K. Ohnishi et al., “Applications of advanced control techniques in electrical drives,” in Proc. Int. Workshop Microcomput. Contr. Elec. Drives, Trieste, Italy, 1989, pp. 1–24.
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7. O. Khatib, “A unified approach for motion and force control of robot manipulators: The operational space formulation,” IEEE J. Robotics Automation, vol. RA-3, no. 1, 1987, pp. 43–53.
8. T. Murakami et al., “Advanced motion control in mechatronics—A tutorial,” in Proc. IEEE Workshop intelligent Motion Contr., vol. 1, 1990, pp. SL-9-SL-17.