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Control of Robot Manipulators Using Disturbance Observer
http://hdl.handle.net/10076/4017
http://hdl.handle.net/10076/4017514f0c01-e176-4090-bae4-7ef8fc699a26
名前 / ファイル | ライセンス | アクション |
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AA008163410190007.PDF (625.0 kB)
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Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||
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公開日 | 2007-07-02 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Control of Robot Manipulators Using Disturbance Observer | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Robot manipulators | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Disturbance observer | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Acceleration control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Inverse dynamics | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
著者 |
駒田, 諭
× 駒田, 諭× 石田, 宗秋× 堀, 孝正 |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper proposes a simple and high performance position control method based on acceleration control. In conventional methods of disturbance compensation, it is difficult to realize the strict acceleration controller. Recently, a reserch on a disturbance observer shows that the disturbance compensation by the disturbance observer realizes the acceleration controller. Compared with the method of using inverse dynamics, the disturbance observer is simple and robust against parameter variation. The control algorithm is applied to a three-degree-of-freedom robot to show the effectiveness. | |||||
書誌情報 |
Research reports of the Faculty of Engineering, Mie University 巻 19, p. 51-61, 発行日 1994-12-21 |
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ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 0385-6208 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AA00816341 | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
その他のタイトル | ||||||
ja | ||||||
外乱オブザーバを用いたロボットの制御 | ||||||
出版者 | ||||||
出版者 | Faculty of Engineering, Mie University | |||||
資源タイプ(三重大) | ||||||
Departmental Bulletin Paper / 紀要論文 |