| contributor author | M. Shiraishi | |
| contributor author | S. Sugano | |
| contributor author | S. Aoshima | |
| date accessioned | 2017-05-09T00:02:58Z | |
| date available | 2017-05-09T00:02:58Z | |
| date copyright | February, 2000 | |
| date issued | 2000 | |
| identifier issn | 1087-1357 | |
| identifier other | JMSEFK-27355#166_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/124021 | |
| description abstract | To compensate for the effects of coupling torque and load variations experienced in SCARA-type robots, we propose a new method of sensor-based decoupling control. In this method the plant is first nominalized with the use of a disturbance observer and then nonlinear feedback control is accomplished by this nominalized system based on information from acceleration sensors installed at the end of the robot hand. As a result of high-speed reciprocal motion with a payload of 10 kg mounted on the hand, we were able to achieve satisfactory decoupling using this method. Improvements were also made in steady-state characteristics. [S1087-1357(00)01201-6] | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control | |
| type | Journal Paper | |
| journal volume | 122 | |
| journal issue | 1 | |
| journal title | Journal of Manufacturing Science and Engineering | |
| identifier doi | 10.1115/1.538915 | |
| journal fristpage | 166 | |
| journal lastpage | 173 | |
| identifier eissn | 1528-8935 | |
| keywords | Torque | |
| keywords | Sensors | |
| keywords | Robots | |
| keywords | Feedback | |
| keywords | Motion AND Steady state | |
| tree | Journal of Manufacturing Science and Engineering:;2000:;volume( 122 ):;issue: 001 | |
| contenttype | Fulltext | |
