Abstract
A continuous nonlinear control law for a robot manipulator is redesigned for digital implementation. The digital control law is derived so that the response of the digital control system is close to that of the continuous control system. The amount of computation for the redesigned control algorithm is almost the same as the amount of computation for the original nonlinear control algorithm. The redesign method provides satisfactorily stable results, even for a fairly large sampling interval. The algorithm was experimentally applied to a direct-drive arm with two degrees of freedom. Simulation and experimental results illustrate the effectiveness of the proposed redesign method.
| Original language | English |
|---|---|
| Pages | 409-414 |
| Number of pages | 6 |
| Publication status | Published - 1989 Dec 1 |
| Externally published | Yes |
| Event | 15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA Duration: 1989 Nov 6 → 1989 Nov 10 |
Other
| Other | 15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 |
|---|---|
| City | Philadelphia, PA, USA |
| Period | 89/11/6 → 89/11/10 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering