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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: Just-In-Time Method, Direct Drive Arm

会議録・要旨集フリー

p. 149

詳細

抄録

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.

責任著者(Corresponding author)

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