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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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.
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Grahic Jump Location
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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