Robust position tracking control for direct drive robot /
Direct drive robots became very popular due to the simple mechanical structurethat avoids the use of a speed reducer, which introduces elasticity and backlash, thus imposing positioning errors and uncertain system stability. However, nonlinear load variation is linked to the motor axis directly. The...
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| LEADER | 01317naa a2200205 ib4500 | ||
|---|---|---|---|
| 001 | 5651990 | ||
| 003 | SI-MaCOB | ||
| 005 | 20121022000000.0 | ||
| 008 | 000925s2000 xv |||||||||||||| ||eng c | ||
| 040 | |a KTFMB |b slv |c SI-MaIIZ |e ppiak | ||
| 041 | 0 | |a eng |b eng | |
| 080 | |a 007.52 | ||
| 080 | |a 681.5 | ||
| 100 | 1 | |a Hace, Aleš. |4 aut | |
| 245 | 0 | 0 | |a Robust position tracking control for direct drive robot / |c Aleš Hace, Karel Jezernik. |
| 300 | |a Str. 121-124. | ||
| 520 | |a Direct drive robots became very popular due to the simple mechanical structurethat avoids the use of a speed reducer, which introduces elasticity and backlash, thus imposing positioning errors and uncertain system stability. However, nonlinear load variation is linked to the motor axis directly. Therefore, an advanced motion controller has to be applied in the robot control scheme. This paper in troduces a novel robust control algorithm, which has been derived using sliding mode control theory. Experimental results are presented and discussed. | ||
| 653 | 0 | |a robotika |a avtomatska regulacija |a drsni režim |a robustne regulacije | |
| 700 | 1 | 2 | |a Jezernik, Karel. |4 aut |
| 773 | 0 | |a IEEE International Conference on Intelligent Engineering Systems (2000 : Portorož) |t Proceedings |d Ljubljana : Institute "Jožef Stefan", 2000 |w 108289024 |z 9616303236 |g Str. 121-124 | |