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- Publisher Website: 10.1109/ROBOT.1987.1087743
- Scopus: eid_2-s2.0-0023167450
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Conference Paper: Virtual internal model following control of robot arms
| Title | Virtual internal model following control of robot arms |
|---|---|
| Authors | |
| Issue Date | 1987 |
| Citation | IEEE International Conference on Robotics and Automation 1987, Raleigh, NC, 31 March-3 April 1987. In Conference Proceedings, 1987, p. 1549-1554 How to Cite? |
| Abstract | An alternative architecture for a robotic servo system with external information is developed, called virtual internal model following control. A continuous path tracking problem of a robot arm in a working coordinate system is first discussed and the control problem with external information is formulated. Then the virtual internal model is defined based on the formulation. This model is used to describe a control strategy for external information. The total servo system control concept. This architecture enables a robot to utilize general external information which includes information through sensors. As an example of the proposed control architecture, a mechanical impedance control problem is discussed. |
| Persistent Identifier | http://hdl.handle.net/10722/302595 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, K. | - |
| dc.contributor.author | Furuta, K. | - |
| dc.contributor.author | Yokoyama, T. | - |
| dc.date.accessioned | 2021-09-07T08:42:13Z | - |
| dc.date.available | 2021-09-07T08:42:13Z | - |
| dc.date.issued | 1987 | - |
| dc.identifier.citation | IEEE International Conference on Robotics and Automation 1987, Raleigh, NC, 31 March-3 April 1987. In Conference Proceedings, 1987, p. 1549-1554 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302595 | - |
| dc.description.abstract | An alternative architecture for a robotic servo system with external information is developed, called virtual internal model following control. A continuous path tracking problem of a robot arm in a working coordinate system is first discussed and the control problem with external information is formulated. Then the virtual internal model is defined based on the formulation. This model is used to describe a control strategy for external information. The total servo system control concept. This architecture enables a robot to utilize general external information which includes information through sensors. As an example of the proposed control architecture, a mechanical impedance control problem is discussed. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Robotics and Automation | - |
| dc.title | Virtual internal model following control of robot arms | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBOT.1987.1087743 | - |
| dc.identifier.scopus | eid_2-s2.0-0023167450 | - |
| dc.identifier.spage | 1549 | - |
| dc.identifier.epage | 1554 | - |