VIRTUAL INTERNAL MODEL FOLLOWING CONTROL OF ROBOT ARMS.

K. Kosuge, K. Furuta, T. Yokoyama

研究成果: Conference contribution

28 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルUnknown Host Publication Title
出版社IEEE
ページ1549-1554
ページ数6
ISBN(印刷版)0818607874
出版ステータスPublished - 1987 1 1
外部発表はい

ASJC Scopus subject areas

  • 工学(全般)

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