Affiliation:
1. Dept of Engineering, University of Cambridge
Abstract
The results of the application of new controllers on three robot arms is described. The initial application of variable structure control on a two link direct-drive arm is followed by its implementation on two industrial arms, a Syke robot and a PUMA arm. To allow adequate computational power in the robot controller, a separate controller was built for the first arm which was demonstrated to be portable for use on both of the industrial arms.
Cited by
1 articles.
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1. Design and Performance Studies of Model-Based Variable-Structure Adaptive Controllers for Industrial Manipulators;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;1992-11