TY - GEN
T1 - Robust linearization and control of robot arm using acceleration feedback
AU - Kosuge, K.
AU - Umetsu, M.
AU - Furuta, K.
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 1989
Y1 - 1989
N2 - This paper presents a motion control algorithm of a robot arm using acceleration feedback in a task coordinate system. The acceleration feedback is used in order to linearize the nonlinear dynamics of a robot arm in a task coordinate system, when the uncertainties of parameters of the robot arm dynamics exist. First, we consider the nonlinear feedback, which linearizes the nonlinear dynamics of a robot arm in a task coordinate system, and discuss the effect of uncertainties of parameters, which are used for the calculation of nonlinear feedback. Then the use of acceleration feedback is discussed in order to eliminate the effect of parameter uncertainties. The total control system is designed for the linearized robot arm in a task coordinate system. Both the proposed control algorithm and the conventional resolved acceleration control algorithm are experimentally applied to a direct-drive arm with two degrees of freedom. Experimental results illustrate the validity of the proposed control algorithm. © ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings.
AB - This paper presents a motion control algorithm of a robot arm using acceleration feedback in a task coordinate system. The acceleration feedback is used in order to linearize the nonlinear dynamics of a robot arm in a task coordinate system, when the uncertainties of parameters of the robot arm dynamics exist. First, we consider the nonlinear feedback, which linearizes the nonlinear dynamics of a robot arm in a task coordinate system, and discuss the effect of uncertainties of parameters, which are used for the calculation of nonlinear feedback. Then the use of acceleration feedback is discussed in order to eliminate the effect of parameter uncertainties. The total control system is designed for the linearized robot arm in a task coordinate system. Both the proposed control algorithm and the conventional resolved acceleration control algorithm are experimentally applied to a direct-drive arm with two degrees of freedom. Experimental results illustrate the validity of the proposed control algorithm. © ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings.
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U2 - 10.1109/ICCON.1989.770498
DO - 10.1109/ICCON.1989.770498
M3 - RGC 32 - Refereed conference paper (with host publication)
T3 - ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings
SP - 161
EP - 165
BT - ICCON 1989 - IEEE International Conference on Control and Applications, Proceedings
PB - IEEE
T2 - 1989 IEEE International Conference on Control and Applications, ICCON 1989
Y2 - 3 April 1989 through 6 April 1989
ER -