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

Author Affiliations +

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, 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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