ディジタル制御による平面マニピュレータの関節角トラッキング
書誌事項
- タイトル別名
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- Digital Control for Asymptotic Angle Tracking of Planer Manipulators
説明
In this paper, an angle tracking (position control) problem of a planer manipulator by digital feedback control is considered. It is well known that the angle tracking is accomplished by continuous-time PD feedback control, however, the stability is not guaranteed any more with digital implementation of the PD control law. In fact, unstable response is observed with larger PD gains. In this paper a stability condition for a manipulator with digital PD feedback control is derived. The usefullness of the derived condition is also demonstrated through experimental examples.
収録刊行物
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- 計測自動制御学会 部門大会／部門学術講演会資料
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計測自動制御学会 部門大会／部門学術講演会資料 cs2 (0), 63-63, 2002
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390282680538701440
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- NII論文ID
- 130006959013
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- データソース種別
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- JaLC
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
