Art
J-GLOBAL ID：200902062976040691
Reference number：91A0373910
Computed torque method of manipulator using disturbance compensation control. A compensation of frictional force using computed torque method.
外乱補償型マニピュレータのComputed Torque Method
Author (4)：
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Material：
Volume：
27
Issue：
3
Page：
341-348
Publication year：
Mar. 1991
JST Material Number：
S0104A
ISSN：
0453-4654
CODEN：
KJSRA
Document type：
Article
Article type：
原著論文
Country of issue：
Japan (JPN)
Language：
JAPANESE (JA)
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JST classification (2)：
JST classification
Category name(code) classified by JST.
ロボット工学一般【’81~’92】
, System design and analysis
Reference (14)：
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1) J.Y.S. Luh, M. Walker and R.P. Paul: On-Line Computational Scheme for Mechanical Manipulators, J. Dynamic Systems, Meas., Control, 102, 69/76 (1980)
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2) J.Y.S. Luh, M.W. Walker and R.P.C. Paul: Resolved Acceleration Control of Manipulators, IEEE Trans. Automatic Control, AC-25-3, 468/474 (1980)
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3) P.K. Khosla and T. Kanade: Real-Time Implementation and Evaluation of Model-Based Control on CMU, Proc. IEEE Conf. on Robotics and Automation, San Francisco, April 7-10, 1546/1555 (1986)
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4) A. Liégeois, A. Fournier and M. Aldon: Model Reference Control of High-Velocity Industrial Robots, Proc. Joint Automatic Control Conf., San Francisco, CA, August 13-15, TP10D 1/3 (1980)
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5) H. Asada, K. Kanade and I. Takeyama: Control of a Direct-Drive Arm, Trans. of ASME, 105, 136/142 (1983)
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