An advanced approach of servo control in industrial robot

Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalConference articlepeer-review

3 Citations (Scopus)


The paper summarizes the various aspects of the advanced servo system in the robot control. The analyzed controller is based on the disturbance observer. There are two main merits in this controller. One is that the disturbance observer takes the place of the inverse dynamics. The other is that the disturbance observer also works as a state analyzer. These two functions add the intelligent elements to the servo controller. Several numerical and experimental results are also shown.

Original languageEnglish
Article number593350
Pages (from-to)379-384
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 1988
Event1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan
Duration: 1988 Oct 311988 Nov 2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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