An Experimental Study on Digital Control of Planer Manipulators

Takayoshi Nishino; Yoshiharu Kusumoto; Hisaya Fujioka

doi:10.11499/sicep.2002.0.659.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.659.0

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

An Experimental Study on Digital Control of Planer Manipulators

Takayoshi Nishino, Yoshiharu Kusumoto, Hisaya Fujioka

著者情報

キーワード: planer manipulator, position control, digital control, dissipativity

会議録・要旨集フリー

p. 659

詳細

抄録

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.

責任著者(Corresponding author)

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