VIRTUAL INTERNAL MODEL FOLLOWING CONTROL OF ROBOT ARMS.

K. Kosuge, K. Furuta, T. Yokoyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)

Abstract

An alternative architecture for a robotic servo system with external information is developed, called virtual internal model following control. A continuous path tracking problem of a robot arm in a working coordinate system is first discussed and the control problem with external information is formulated. Then the virtual internal model is defined based on the formulation. This model is used to describe a control strategy for external information. The total servo system control concept. This architecture enables a robot to utilize general external information which includes information through sensors. As an example of the proposed control architecture, a mechanical impedance control problem is discussed.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1549-1554
Number of pages6
ISBN (Print)0818607874
Publication statusPublished - 1987 Jan 1
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'VIRTUAL INTERNAL MODEL FOLLOWING CONTROL OF ROBOT ARMS.'. Together they form a unique fingerprint.

Cite this