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 language | English |
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Title of host publication | Proceedings of the '97 Korea Control Conference |
Pages | 472-475 |
Number of pages | 4 |
State | Published - 1997 |