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TECHNICAL PAPERS

High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control

[+] Author and Article Information
M. Shiraishi, S. Sugano, S. Aoshima

Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa, Hitachi, 316 Japan

J. Manuf. Sci. Eng 122(1), 166-173 (Jun 01, 1999) (8 pages) doi:10.1115/1.538915 History: Received August 01, 1997; Revised June 01, 1999
Copyright © 2000 by ASME
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References

Yoshikawa,  T., 1989, “Digital Control by Calculated Torque Method,” J. Robotics Soc. Jpn., 7, No. 3, pp. 237–242 (in Japanese).
Mita,  T., and Kaku,  Y., 1987, “Trajectory Control of Robot Manipulators,” Jpn. J. Electr. Eng., Ser. D, 107, No. 1, pp. 77–82 (in Japanese).
Luh,  J. Y. S., Walker,  M. W., and Paul,  R. P. C., 1980, “Resolved Acceleration Control of Mechanical Manipulators,” IEEE Trans. Autom. Control., AC-25, pp. 468–473.
Bickel, R. J., and Tomizuka, M., 1994, “Design of Robust Tracking Controller in the Discrete Time Domain,” in Proceedings of the 3rd International Workshop on Advanced Motion Control, pp. 32–38.
Hsia, T. C., 1992, “Decoupled Robust Joint Control of Robot Manipulators,” in Proceedings of the 2nd IEEE International Workshop on Advanced Motion Control, pp. 1–8.
Freund,  E., 1982, “Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators,” Int. J. Robotics Res., 1, No. 1, pp. 65–71.

Figures

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Model of two-axis SCARA-type robot
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Decoupling method based on acceleration sensors
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Disturbance observer method
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Proposed control method
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Control results for trajectory 1
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Control results for trajectory 2  

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