Motion control of a robot arm using variable structure system

K. Kosuge, K. Furuta

Research output: Contribution to conferencePaperpeer-review

1 Citation (Scopus)

Abstract

A design method of the switching surface for a certain class of nonlinear systems, which has been proposed by authors is reviewed and its application to the trajectory tracking control of a robot arm in the task coordinate system is discussed. The control input is designed so as to guarantee the existence of the sliding mode using the characteristics of robot arms. The proposed control law is experimentally applied to a direct-drive arm with two degrees of freedom. The experimental results illustrate the robustness of the proposed control law.

Original languageEnglish
Pages167-174
Number of pages8
Publication statusPublished - 1988 Dec 1
Externally publishedYes
EventProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA
Duration: 1988 Jul 181988 Jul 20

Other

OtherProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
CityMinneapolis, MN, USA
Period88/7/1888/7/20

ASJC Scopus subject areas

  • Engineering(all)

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