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Proceedings Paper

Digital Signal Processor(DSP)-Based Variable Structure Control With Observer For Robot Manipulator
Author(s): Y. Dote
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Paper 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).

Paper Details

Date Published: 19 October 1987
PDF: 5 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942955
Show Author Affiliations
Y. Dote, Muroran Inst. of Tech. (Japan)


Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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