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Conference Paper: Motion control of a robot arm using variable structure system
| Title | Motion control of a robot arm using variable structure system |
|---|---|
| Authors | |
| Issue Date | 1988 |
| Citation | The USA-Japan Symposium on Flexible Automation 1988, Minneapolis, MN, 18-20 July 1988. In Conference Proceedings, 1988, p. 167-174 How to Cite? |
| Abstract | A design method of the switching surface for a certain class of nonlinear systems, which has been proposed by authors is reviewed and its application to the trajectory tracking control of a robot arm in the task coordinate system is discussed. The control input is designed so as to guarantee the existence of the sliding mode using the characteristics of robot arms. The proposed control law is experimentally applied to a direct-drive arm with two degrees of freedom. The experimental results illustrate the robustness of the proposed control law. |
| Persistent Identifier | http://hdl.handle.net/10722/302599 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, K. | - |
| dc.contributor.author | Furuta, K. | - |
| dc.date.accessioned | 2021-09-07T08:42:13Z | - |
| dc.date.available | 2021-09-07T08:42:13Z | - |
| dc.date.issued | 1988 | - |
| dc.identifier.citation | The USA-Japan Symposium on Flexible Automation 1988, Minneapolis, MN, 18-20 July 1988. In Conference Proceedings, 1988, p. 167-174 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302599 | - |
| dc.description.abstract | A design method of the switching surface for a certain class of nonlinear systems, which has been proposed by authors is reviewed and its application to the trajectory tracking control of a robot arm in the task coordinate system is discussed. The control input is designed so as to guarantee the existence of the sliding mode using the characteristics of robot arms. The proposed control law is experimentally applied to a direct-drive arm with two degrees of freedom. The experimental results illustrate the robustness of the proposed control law. | - |
| dc.language | eng | - |
| dc.relation.ispartof | The USA-Japan Symposium on Flexible Automation | - |
| dc.title | Motion control of a robot arm using variable structure system | - |
| dc.type | Conference_Paper | - |
| dc.identifier.scopus | eid_2-s2.0-0024124073 | - |
| dc.identifier.spage | 167 | - |
| dc.identifier.epage | 174 | - |