Tracking Control of Nonlinear Direct Drive Arm via Just-In-Time Method

Daisuke Komura; Shun Ushida; Qiubao Zheng; Hidenori Kimura

doi:10.11499/sicep.2002.0.149.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.149.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Tracking Control of Nonlinear Direct Drive Arm via Just-In-Time Method

Daisuke Komura, Shun Ushida, Qiubao Zheng, Hidenori Kimura

Author information

Keywords: Just-In-Time Method, Direct Drive Arm

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 149

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Abstract

This paper is concerned with the tracking control of nonlinear two-links Direct Drive (DD) arm based on Just-In-Time method, also known as JIT control. In order to validate JIT control, we apply it to numerical DD arm simulator. In this paper, we show the results of the experiments and investigate the possibility of applying JIT control to an actual DD arm.

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