19 October 1987 Digital Signal Processor(DSP)-Based Variable Structure Control With Observer For Robot Manipulator
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Abstract
A variable structure control scheme which consists of continuous adaptive gain feedback and feedforward controls with an equivalent external diturbance observer is developed to achieve accurate (robust) decoupled model following control for a two-degrees-of-freedom manipulator powered by PWM transistor converter-fed dc servomotors. The proposed control scheme is implemented by a fast digital signal processor(DSP). It is confirmed by the experiments that the position trajectories are smooth and track the desired trajectories accurately(robustly).
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Y. Dote, "Digital Signal Processor(DSP)-Based Variable Structure Control With Observer For Robot Manipulator", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942955; https://doi.org/10.1117/12.942955
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