19 October 1987 Digital Signal Processor(DSP)-Based Novel Variable Structure Control For Robot Manipulator
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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.
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Y. Dote, Y. Dote, M. Shinojima, M. Shinojima, R. G. Hoft, 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); doi: 10.1117/12.942959; https://doi.org/10.1117/12.942959
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