Digital Signal Processor(DSP)-Based Novel Variable Structure Control For Robot Manipulator

Y. Dote; M. Shinojima; R. G. Hoft

doi:10.1117/12.942959

19 October 1987 Digital Signal Processor(DSP)-Based Novel Variable Structure Control For Robot Manipulator

Y. Dote, M. Shinojima, R. G. Hoft

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942959
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

A new variable structure control scheme which consists of continuous adaptive gain feedback(PI) and feedforward controls is developed to achieve accurate decoupled model following in a class of nonlinear time-varying systems in the presence of disturbances, parameter variations and nonlinear dynamic interactions. Then the developed method is practically applied to decoupled model following motion control for a two-degrees-of-freedom manipulator powered by PWM transistor converter-fed servo motors. The overall control strategies are implemented with a DSP(TI,TMS32020). Tt is found by the experiments that this controller is simple, is easily designed and performs extremely satisfactorily.

Citation Download Citation

Y. Dote, M. Shinojima, and R. G. Hoft "Digital Signal Processor(DSP)-Based Novel Variable Structure Control For Robot Manipulator", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942959

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