A novel servo system design method based on the acceleration control

Proceedings - IECON 1988: Control and Simulation - 1988 International Conference on Industrial Electronics

Volumn , Issue , 1988, Pages 447-452

  Hori, Yoichi ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

Acceleration control; Disturbance observer; Disturbance suppression; Inverse dynamics; Microprocessor control; Motion control; Robot manipulator; Servo system; State observer

Indexed keywords

ACCELERATION; CONTROLLERS; FLEXIBLE MANIPULATORS; INDUSTRIAL ELECTRONICS; INDUSTRIAL ROBOTS; INVERSE PROBLEMS; MODULAR ROBOTS; MOTION CONTROL; ROBOT APPLICATIONS; SERVOMECHANISMS; SYSTEMS ANALYSIS;

DISTURBANCE OBSERVER; DISTURBANCE SUPPRESSION; INVERSE DYNAMICS; MICROPROCESSOR CONTROL; ROBOT MANIPULATOR; STATE OBSERVER;

ACCELERATION CONTROL;

EID: 0343705031     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.1988.665180     Document Type: Conference Paper

References (5)

1. I. Hori, "Disturbance Suppression on Acceleration Control Type Dc Servo System", IEEE FESC'88, session IIB-5, Kyoto, 1988
2. J. R. Hewit et.al., "Dynamic Coordination of Robot Movement", Proc. of 4th Symposium on Theory & Practice of Robots & Manipulators, ROMAHSI'81, pp. 77-88, 1981.
3. K. Ohnishi et.al., "Microprocessor Controlled DC Motor for Load-Insensitive Position Servo System", IEEE Trans, on IE, IE.34-1, pp. 44-49 (1987)
4. M. Nakao et.al., "A Robust Decentralized Joint Control Baaed on Interference Estimation", Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 1, pp. 326-331, 1987
5. J. T. S. Luh et.al., "Resolved Acceleration Control of Mechanical Manipulators", IEEE Trans, on AC, 25-3, pp. 468-474, 1980