Digital redesign of robot control

T. Yokoyama, K. Kosuge, K. Furuta

Research output: Contribution to conferencePaperpeer-review

4 Citations (Scopus)

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 languageEnglish
Pages409-414
Number of pages6
Publication statusPublished - 1989 Dec 1
Externally publishedYes
Event15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA
Duration: 1989 Nov 61989 Nov 10

Other

Other15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1
CityPhiladelphia, PA, USA
Period89/11/689/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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