Motion control of a robot arm using variable structure system

K. Kosuge, K. Furuta

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ167-174
ページ数8
出版ステータスPublished - 1988 12月 1
外部発表はい
イベントProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA
継続期間: 1988 7月 181988 7月 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

  • 工学(全般)

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