MANIPULATION
Position/Force Control of Multi-Axis Robot Manipulator based on the TDOF Robust Servo Controller for Each Joint
Yoichi Hori, Koji Shimura, Masayoshi Tomizuka
- Year
- 1992
- Citations
- 30
Abstract
The aim of this paper is mainly to demonstrate the efficacy of our robot control method without using non-linear compensation using the inverse dynamics. This method is based on the modern Two-Degrees-Of-Freedom (TDOF) robust position servosystem for each joint which has extremely high servo stiffness. We will show the experimental results of various kinds of robot motion controls using the lifesize 6-axis manipulator and DSP based controller.
Keywords
Control theory (sociology)ServoRobotServo controlCompensation (psychology)Computer sciencePosition (finance)ServomechanismRobust controlJoint stiffness
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