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Conference Paper: Variable structure control of robot arm
| Title | Variable structure control of robot arm |
|---|---|
| Authors | |
| Issue Date | 1985 |
| Citation | The 15th International Symposium on Industrial Robots, Tokyo, Japan, 1985. In Conference Proceedings, 1985, v. 2, p. 633-640 How to Cite? |
| 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. |
| Persistent Identifier | http://hdl.handle.net/10722/302593 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Furuta, Katsuhisa | - |
| dc.date.accessioned | 2021-09-07T08:42:12Z | - |
| dc.date.available | 2021-09-07T08:42:12Z | - |
| dc.date.issued | 1985 | - |
| dc.identifier.citation | The 15th International Symposium on Industrial Robots, Tokyo, Japan, 1985. In Conference Proceedings, 1985, v. 2, p. 633-640 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302593 | - |
| dc.description.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. | - |
| dc.language | eng | - |
| dc.relation.ispartof | International Symposium on Industrial Robots | - |
| dc.title | Variable structure control of robot arm | - |
| dc.type | Conference_Paper | - |
| dc.identifier.scopus | eid_2-s2.0-0022281651 | - |
| dc.identifier.volume | 2 | - |
| dc.identifier.spage | 633 | - |
| dc.identifier.epage | 640 | - |