TY - JOUR
T1 - Control Of Articulated Robot Arm With Sensory Feedback
T2 - Laser Beam Tracking System
AU - Furuta, Katsuhisa
AU - Kosuge, Kazuhiro
AU - Mukai, Nobuhiko
N1 - Copyright:
Copyright 2015 Elsevier B.V., All rights reserved.
PY - 1988/2
Y1 - 1988/2
N2 - This article presents a control scheme for a computer controlled articulated robot arm with sensory feedback. The scheme consists of two parts. First, the dynamics of a robot arm described in a task coordinate system, which is selected appropriately for the use of sensory feedback, is linearized by nonlinear feedback. Then, the model following servo controller is designed so that the effect of errors of parameters, which is used for the linearization of robotic dynamics, can be decreased. The control law is shown to be simplified by the use of high-gain feedback. The scheme is applied to the trajectory tracking control of an articulated robot arm using a laser beam. The experimental results show the effectiveness of the proposed control method.
AB - This article presents a control scheme for a computer controlled articulated robot arm with sensory feedback. The scheme consists of two parts. First, the dynamics of a robot arm described in a task coordinate system, which is selected appropriately for the use of sensory feedback, is linearized by nonlinear feedback. Then, the model following servo controller is designed so that the effect of errors of parameters, which is used for the linearization of robotic dynamics, can be decreased. The control law is shown to be simplified by the use of high-gain feedback. The scheme is applied to the trajectory tracking control of an articulated robot arm using a laser beam. The experimental results show the effectiveness of the proposed control method.
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U2 - 10.1109/41.3060
DO - 10.1109/41.3060
M3 - Article
AN - SCOPUS:0023962630
VL - 35
SP - 31
EP - 39
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 1
ER -