SICE Annual Conference Program and Abstracts
SICE Annual Conference 2002
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

An Experimental Study on Digital Control of Planer Manipulators
Takayoshi Nishino, Yoshiharu Kusumoto, Hisaya Fujioka
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Keywords: planer manipulator, position control, digital control, dissipativity
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Pages 659

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Abstract
In this paper, a position control problem for a planer manipulator is considered. A sufficient condition for asymptotical stability of a manipulator with digital PD feedback control law has been derived recently. This paper presents some experimental results with a SICE DD arm in order to verify the stability theory.
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© 2002 SICE
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