Robust Controller Design for Robot Manipulators

[+] Author and Article Information
T. Sugie, T. Ono

Department of Mechanical Engineering, University of Osaka Prefecture, Sakai, Osaka 591, Japan

T. Yoshikawa

Automation Research Laboratory, Kyoto University, Uji, Kyoto 611, Japan

J. Dyn. Sys., Meas., Control 110(1), 94-96 (Mar 01, 1988) (3 pages) doi:10.1115/1.3152657 History: Received October 23, 1987; Online July 21, 2009


In this paper we give a control method for robot manipulators which takes account of both the command response and the robustness in a systematic way by utilizing two-degree-of-freedom controller configuration. A simulation result is given to show the validity of our method.

Copyright © 1988 by ASME
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