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Proceedings Paper

On The Control Of Robot Manipulator
Author(s): C. S.G. Lee
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Paper Abstract

The purpose of robot arm control is to maintain a prescribed motion for the manipulator along a desired trajectory by applying corrective compensation torques to the actuators to adjust for any deviations of the manipulator from the trajectory. This paper presents various control methods for industrial robots. It begins with the discussion of various dynamic models for manipulators and covers several existing control methods from simple servomechanism to advanced controls such as adaptive control with identification algorithm.

Paper Details

Date Published: 13 December 1983
PDF: 26 pages
Proc. SPIE 0442, Robotics and Robot Sensing Systems, (13 December 1983); doi: 10.1117/12.937931
Show Author Affiliations
C. S.G. Lee, The University of Michigan (United States)

Published in SPIE Proceedings Vol. 0442:
Robotics and Robot Sensing Systems
David P. Casasent; Ernest L. Hall, Editor(s)

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