Digital Signal Processor(DSP)-Based Variable Structure Control With Observer For Robot Manipulator

Y. Dote

doi:10.1117/12.942955

19 October 1987 Digital Signal Processor(DSP)-Based Variable Structure Control With Observer For Robot Manipulator

Y. Dote

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942955
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

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).

Citation Download Citation

Y. Dote "Digital Signal Processor(DSP)-Based Variable Structure Control With Observer For Robot Manipulator", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942955

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