3-step set-point control algorithm for robot arms

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2000, Pages 1296-1301

  Quach, Nghe Huan ^a   Liu, Ming ^a  

^a MONASH UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

STATIC FRICTION FORCE; THREE STEP SET POINT CONTROL;

ALGORITHMS; ERROR COMPENSATION; FORCE CONTROL; FRICTION; GRAVITATIONAL EFFECTS; MOTION CONTROL; TORQUE; TWO TERM CONTROL SYSTEMS;

ROBOTIC ARMS;

EID: 0033692388     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

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3. Liu, M., Gravity Force Estimation and Compensation for Robot Manipulators, submitted to IEEE trans. on Robotics and Automation, 1999.
4. Liu, M., Nguyen, T., Le, N. and Kwan, E., An Open Structure Robot Controller, in Proc. of IFAC Symposium on Low Cost Automation, pp. TS10.13-17, China, 1998.
5. Sciavicco, L. and Siciliano, B., Modeling And Control of Robot Manipulators, The McGraw-Hill Companies, Inc., 1996.
6. Yang, S. and Tomizuka, M., "Adaptive Pulse Width Control For Precise Positioning Under The Influence of Stiction And Coulomb Friction", Journal Of Dynamic Systems, Measurement, and Control, Vol. 110, pp. 221-227, 1988.
7. Yue, L. and Pasic, H., "A New Simple Method of Control of Robotic Manipulators With Uncertain Parameters", Journal of Robotic Systems, vol. 15, No. 10, pp. 551-558, 1998.