Digital implementation of robust μ-control for a robot manipulator

Masayuki Fujita, Toru Namerikawa, Kenko Uchida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value μ. Then the μ-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.

Original languageEnglish
Title of host publicationProceedings of the American Control Conference
PublisherAmerican Automatic Control Council
Pages2450-2454
Number of pages5
Volume3
Publication statusPublished - 1994
Externally publishedYes
EventProceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA
Duration: 1994 Jun 291994 Jul 1

Other

OtherProceedings of the 1994 American Control Conference. Part 1 (of 3)
CityBaltimore, MD, USA
Period94/6/2994/7/1

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Fujita, M., Namerikawa, T., & Uchida, K. (1994). Digital implementation of robust μ-control for a robot manipulator. In Proceedings of the American Control Conference (Vol. 3, pp. 2450-2454). American Automatic Control Council.