HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL.

Masato Nakao; Kiyoshi Ohishi; Kouhei Ohnishi; Kunio Miyachi

HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL.

Masato Nakao, Kiyoshi Ohishi, Kouhei Ohnishi, Kunio Miyachi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

4 Citations (Scopus)

Abstract

A discussion is presented of the joint motion control problem of a multidegrees of freedom manipulator where the interference force should be taken into account. As one solution of this problem, the observer-based position servo system is proposed. The observer can estimate the sum of all the interference torque, and the feedforward path suppresses immediately its influence. As a result, the decentralized autonomous control is expected to be realized by using this servo system as a position controller of each joint.

Original language	English
Pages	28-33
Number of pages	6
Publication status	Published - 1986 Dec 1

ASJC Scopus subject areas

Engineering(all)

Cite this

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abstract = "A discussion is presented of the joint motion control problem of a multidegrees of freedom manipulator where the interference force should be taken into account. As one solution of this problem, the observer-based position servo system is proposed. The observer can estimate the sum of all the interference torque, and the feedforward path suppresses immediately its influence. As a result, the decentralized autonomous control is expected to be realized by using this servo system as a position controller of each joint.",

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N2 - A discussion is presented of the joint motion control problem of a multidegrees of freedom manipulator where the interference force should be taken into account. As one solution of this problem, the observer-based position servo system is proposed. The observer can estimate the sum of all the interference torque, and the feedforward path suppresses immediately its influence. As a result, the decentralized autonomous control is expected to be realized by using this servo system as a position controller of each joint.

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HIGH-STIFF POSITION SERVO SYSTEM AND ITS APPLICATION TO MANIPULATOR MOTION CONTROL.

Abstract

ASJC Scopus subject areas

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