A Tracking Controller for Manipulators with Flexible Joints Using Sliding Observer

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概要

• 論文の詳細を見る

• We present a tracking control scheme for robot manipulators with flexible joints. Only the information from motors is used for feedback. The concept of "desired fictional motor position" is introduced. The stability of a dynamic control system with the sliding observer is guaranteed by using Lyapunov stability theory. To illustrate the effect of the algorithm including the controller and the sliding observer, computer simulations have been carried out using a SCARA 2-DOF manipulator.

• 一般社団法人日本機械学会の論文
• 1996-09-15

著者

• Hayakawa Yoshikazu

  Faculty Of Engineering Nagoya University

• YANG Jianming

  School of Basic Medical Sciences,Shanghai Medical University

• Hayakawa Y

  Nara National Coll. Technol. Nara Jpn

• Yang Jianming

  School Of Basic Medical Sciences Shanghai Medical University

• Yang Jianming

  Faculty of Engineering, Nagoya University

• Fujii Seizo

  Faculty of Engineering, Nagoya University

• Fujii Seizo

  Faculty Of Engineering Nagoya University

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