Path Tracking Control of Robot Manipulators Utilizing Future Information of Desired Trajectory

In this paper, the following two control methods are proposed for path tracking control of robot manipulators : (1) digital control method based on the principle of movement of a nonlinear mechanical system : (2) preview control method utilizing future information of the desired trajectory to improv...

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Bibliographic Details
Published inNihon Kikai Gakkai ronbunshū. C Vol. 59; no. 564; pp. 2512 - 2518
Main Authors Wang, Shouyu, Tsuchiya, Takeshi, Hashimoto, Yukio
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 1993
Subjects
Digital Control
Future Information
Path Tracking Control
Preview Control
Robot Manipulators
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Summary:In this paper, the following two control methods are proposed for path tracking control of robot manipulators : (1) digital control method based on the principle of movement of a nonlinear mechanical system : (2) preview control method utilizing future information of the desired trajectory to improve the tracking control performance of method (1). The features are (a) systematically derived digital control law, (b) disturbance terms that may be unknown if they are functions of position and velocity. Finally, the effectiveness of the proposed control methods is shown by simulation studies and experimental studies.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.59.2512