Digital implementation of robust μ-control for a robot manipulator

Masayuki Fujita; Toru Namerikawa; Kenko Uchida

Digital implementation of robust μ-control for a robot manipulator

Masayuki Fujita
, Toru Namerikawa
, Kenko Uchida

研究成果: Conference article › 査読

抄録

In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value μ. Then the μ-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.

本文言語	English
ページ（範囲）	2450-2454
ページ数	5
ジャーナル	Proceedings of the American Control Conference
巻	3
出版ステータス	Published - 1994 12月 1
外部発表	はい
イベント	Proceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA 継続期間: 1994 6月 29 → 1994 7月 1

ASJC Scopus subject areas

電子工学および電気工学

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引用スタイル

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title = "Digital implementation of robust μ-control for a robot manipulator",

abstract = "In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value μ. Then the μ-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.",

author = "Masayuki Fujita and Toru Namerikawa and Kenko Uchida",

year = "1994",

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language = "English",

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journal = "Proceedings of the American Control Conference",

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AU - Fujita, Masayuki

AU - Namerikawa, Toru

AU - Uchida, Kenko

PY - 1994/12/1

Y1 - 1994/12/1

N2 - In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value μ. Then the μ-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.

AB - In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value μ. Then the μ-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.

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UR - https://www.scopus.com/pages/publications/0028579366#tab=citedBy

M3 - Conference article

AN - SCOPUS:0028579366

SN - 0743-1619

VL - 3

SP - 2450

EP - 2454

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - Proceedings of the 1994 American Control Conference. Part 1 (of 3)

Y2 - 29 June 1994 through 1 July 1994

ER -

Digital implementation of robust μ-control for a robot manipulator

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ASJC Scopus subject areas

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