Motion control of a robot arm using variable structure system

K. Kosuge; K. Furuta

Motion control of a robot arm using variable structure system

K. Kosuge, K. Furuta

研究成果: Paper › 査読

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 18 → 1988 7月 20

Other

Other	Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
City	Minneapolis, MN, USA
Period	88/7/18 → 88/7/20

ASJC Scopus subject areas

工学（全般）

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Link to publication in Scopus

引用スタイル

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AB - 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.

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Motion control of a robot arm using variable structure system

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Other

ASJC Scopus subject areas

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