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Author Zheng-Hua Luo ♦ Sakawa, Y.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1993
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Programmable control ♦ Adaptive control ♦ Strain control ♦ Feedback control ♦ Robots ♦ Manipulators ♦ Stability ♦ Feedback loop ♦ Performance gain ♦ Load management
Abstract Although DSFB control with constant feedback gain always guarantees closed loop stability, the control performance may not be so satisfactory due to, for instance, robot arm's tip load variations. In this paper, the authors present a simple gain adaptive method to overcome this difficulty. The closed loop stability of gain adaptive DSFB control is proved theoretically, and the effectiveness of the proposed control method is demonstrated by a series of experiments.
Description Author affiliation: Fac. of Eng. Sci., Osaka Univ., Japan (Zheng-Hua Luo; Sakawa, Y.)
ISBN 0780312333
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1993-10-19
Publisher Place China
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 302.94 kB
Page Count 4
Starting Page 199
Ending Page 202


Source: IEEE Xplore Digital Library