Position control of robots with uncertain parameters using output-feedback controller

E. S. Choi, Amit Ailon, J. S. Yun, B.H. Ahn

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The principle objective of this paper is to explain and demonstrate the advantage of the output-feedback controller proposed by Ailon in [61 by using simulation and experimental results. Namely, the goal of this study is to design and implement a real-time controller for set-point regulation of a one-link rigid robot manipulator with unknown parameters using only position measurement. For implementation a direct drive one-link rigid robot manipulator is constructed and a TMS320C40 DSP systems board is used in implementing real-time control algorithm.
Original languageEnglish
Title of host publicationProceedings of the '97 Korea Control Conference
Pages472-475
Number of pages4
StatePublished - 1997

Fingerprint

Dive into the research topics of 'Position control of robots with uncertain parameters using output-feedback controller'. Together they form a unique fingerprint.

Cite this