VARIABLE STRUCTURE CONTROL OF ROBOT ARM.

Kazuhiro Kosuge; Katsuhisa Furuta

VARIABLE STRUCTURE CONTROL OF ROBOT ARM.

Kazuhiro Kosuge
, Katsuhisa Furuta

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

2 Citations (Scopus)

Abstract

In this paper, a new method to design a sliding mode of the variable structure controller for a certain class of nonlinear systems is presented and the application of this method to the control problem of a robot arm is discussed. First the design algorithm of the sliding mode, which zeros the output of the system is developed. Next, the control of a robot arm is discussed and the method presented in this paper is applied to this problem. The presented method is evaluated by the simulation for a two-link arm and is shown to be effective for the control problem of a robot arm.

Original language	English
Title of host publication	Proceedings of the 15th International Symposium on Industrial Robots.
Publisher	Japan Industrial Robot Assoc
Pages	633-640
Volume	2
Publication status	Published - 1985
Externally published	Yes

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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].

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@inproceedings{7ea356ccbd2347debf418ebd50c27efa,

title = "VARIABLE STRUCTURE CONTROL OF ROBOT ARM.",

abstract = "In this paper, a new method to design a sliding mode of the variable structure controller for a certain class of nonlinear systems is presented and the application of this method to the control problem of a robot arm is discussed. First the design algorithm of the sliding mode, which zeros the output of the system is developed. Next, the control of a robot arm is discussed and the method presented in this paper is applied to this problem. The presented method is evaluated by the simulation for a two-link arm and is shown to be effective for the control problem of a robot arm.",

author = "Kazuhiro Kosuge and Katsuhisa Furuta",

note = "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].",

year = "1985",

language = "English",

volume = "2",

pages = "633--640",

booktitle = "Proceedings of the 15th International Symposium on Industrial Robots.",

publisher = "Japan Industrial Robot Assoc",

}

TY - GEN

T1 - VARIABLE STRUCTURE CONTROL OF ROBOT ARM.

AU - Kosuge, Kazuhiro

AU - Furuta, Katsuhisa

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 - 1985

Y1 - 1985

N2 - In this paper, a new method to design a sliding mode of the variable structure controller for a certain class of nonlinear systems is presented and the application of this method to the control problem of a robot arm is discussed. First the design algorithm of the sliding mode, which zeros the output of the system is developed. Next, the control of a robot arm is discussed and the method presented in this paper is applied to this problem. The presented method is evaluated by the simulation for a two-link arm and is shown to be effective for the control problem of a robot arm.

AB - In this paper, a new method to design a sliding mode of the variable structure controller for a certain class of nonlinear systems is presented and the application of this method to the control problem of a robot arm is discussed. First the design algorithm of the sliding mode, which zeros the output of the system is developed. Next, the control of a robot arm is discussed and the method presented in this paper is applied to this problem. The presented method is evaluated by the simulation for a two-link arm and is shown to be effective for the control problem of a robot arm.

UR - https://www.scopus.com/pages/publications/0022281651

UR - https://www.scopus.com/pages/publications/0022281651#tab=impact

M3 - RGC 32 - Refereed conference paper (with host publication)

VL - 2

SP - 633

EP - 640

BT - Proceedings of the 15th International Symposium on Industrial Robots.

PB - Japan Industrial Robot Assoc

ER -

VARIABLE STRUCTURE CONTROL OF ROBOT ARM.

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