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

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

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

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

Department of Electrical & Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	Proceedings of the '97 Korea Control Conference
Pages	472-475
Number of pages	4
State	Published - 1997

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@inproceedings{ff0986e7b2b94d058a1a851576c5eed7,

title = "Position control of robots with uncertain parameters using output-feedback controller",

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.",

author = "Choi, {E. S.} and Amit Ailon and Yun, {J. S.} and B.H. Ahn",

year = "1997",

language = "English",

pages = "472--475",

booktitle = "Proceedings of the '97 Korea Control Conference",

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T1 - Position control of robots with uncertain parameters using output-feedback controller

AU - Choi, E. S.

AU - Ailon, Amit

AU - Yun, J. S.

AU - Ahn, B.H.

PY - 1997

Y1 - 1997

N2 - 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.

AB - 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.

M3 - Conference contribution

SP - 472

EP - 475

BT - Proceedings of the '97 Korea Control Conference

ER -

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

Abstract

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