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Proceedings Paper

Digital Signal Processor(DSP)-Based Novel Variable Structure Control For Robot Manipulator
Author(s): Y. Dote; M. Shinojima; R. G. Hoft
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Paper 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.

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: 10.1117/12.942959
Show Author Affiliations
Y. Dote, Muroran Institute of Technology (Japan)
M. Shinojima, Muroran Institute of Technology (Japan)
R. G. Hoft, University of Missouri (United States)

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

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