Control of Robot Arms Using Joint Sensors

IEEE Control Systems

Volumn 18, Issue 1, 1998, Pages 48-55

  Zhang, Guoguang ^a   Furusho, Junji ^a  

^a OSAKA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

FEEDBACK; FRICTION; INDUSTRIAL ROBOTS; MATHEMATICAL MODELS; POLES AND ZEROS; POSITION CONTROL; SENSORS; TORQUE CONTROL; UNIVERSAL JOINTS; VIBRATION CONTROL;

ANTIRESONANCE FREQUENCY; DISTURBANCE REJECTION; FEEDFORWARD COMPENSATION CONTROL; FLEXIBLE DRIVE SYSTEMS; JOINT TORQUE SENSORS;

ROBOTIC ARMS;

EID: 0031997287     PISSN: 1066033X     EISSN: None     Source Type: Journal    
DOI: 10.1109/37.648629     Document Type: Article

References (14)

1. J.Y.S. Luh, “Conventional Controller Design for Industrial Robots-A Tutorial,” IEEE Trans.on Systems,Man and Cybernetics,vol. SMC-13, no. 3, pp. 298-316, June 1983.
2. M.C. Good and L.M. Sweet, “Structures for Sensor-Based Robot Motion Control,” Proc. American Control Conf.,pp.23-31,June 1984.
3. H.B. Kuntze and A.H.K. Jacubasch, “Control Algorithms for Stiffening an Elastic Industrial Robot,” IEEE Journal of Robotics and Automation,vol. RA-1, no. 2, pp. 71-78, June 1985.
4. S.C.P.Gomes and J.P. Chretien, “Dynamic Modelling and Friction Compensated Control of a Robot Manipulator Joint,” Proc. IEEE Int. Conf on Robotics and Automation, pp.1429-1435, 1992.
5. T. Kubo, G. Anwar, and M. Tomizuka, “Application of Nonlinear Friction Compensation to Robot Arm Control,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 122-727, 1986.
6. C.H. Wu and R.P. Paul, “Manipulator Compliance Based on Joint Torque Control,” Proc. 19th IEEE Conf. on Decision and Control, pp. 88-94, 1980.
7. L. E. Pfeffer, O. Khatib, and J. Hake, “Joint Torque Sensory Feedback in the Control of PUMA Manipulator”, IEEE Trans. on Robotics and Automation, vol. 5, no. 4, pp. 418-425, August 1989.
8. J. Y. S. Luh, W. Fisher, R. P. Paul, “Joint Torque Control by a Direct Feedback for Industrial Robots”, IEEE Trans., vol. AC-13, no. 2, pp. 153-161, February 1983.
9. M. Nakao, K. Ohnishi, K. Miyachi, “A Robust Decentralized Joint Control Based on Interference estimation”, IEEE Conf. on RA, pp. 326-331, 1987.
10. M. Hashimoto, “Robot Motion Control Based on Joint Torque Sensing”, IEEE Conf. on Robotics and Automation, pp. 256-261, 1989.
11. K. Kosuge, H. Kakeuchi, and K. Furuta, “Motion Control of a Robot Arm Using Joint Torque Sensors”, IEEE Trans. on Robotics and Automation, vol. 6, no. 2, pp. 258-263, April 1990.
12. G. Zhang, J. Furusho, and M. Kajitani, “Control of Flexible-Joint Manipulators Using Joint Torque and Acceleration Feedback”, Proc. 3rd Int. Conf. on Motion and Vibration Control, pp. 245-250, September 1996.
13. M. C. Good, L. M. Sweet, and K. L. Strobel, “Dynamic Models for Control System Design of Integrated Robot and Drive Systems”, ASME Journal of Dynamic Systems, Measurement and Control, vol. 107, pp. 53-60, March 1985.
14. J. Furusho, G. Zhang, and M. Sakaguthi, “Vibration Suppression Control of Robot Arms Using a Homogeneous-Type Electroheological Fluid,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3441-3448. April 1997.