Data transfer requirements for controlling wrist joint structure robots in case of maximum decentralization

J. F. Bitó, Gy Eröss, J. Tar

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

1 Citation (Scopus)

Abstract

The authors' aim is to propose a fully decentralized control structure simultaneously using Sagnac-encoders and conventional generalized coordinates. Remanent mathematical coupling in the case of "full" decentralization is also considered. The proposed 'CTC' (Computed Torque Control) Structure easily can be completed with Model Reference Adaptive Control blocks to achieve robust behaviour against the unknown payload and the inertia-uncertainities of the robot arms.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Workshop on Intelligent Motion Control, IMC 1990
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages847-850
Number of pages4
ISBN (Electronic)9780000000002
DOIs
Publication statusPublished - Jan 1 1990
Event1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990 - Istanbul, Turkey
Duration: Aug 20 1990Aug 22 1990

Publication series

NameProceedings of the IEEE International Workshop on Intelligent Motion Control, IMC 1990
Volume2

Conference

Conference1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990
CountryTurkey
CityIstanbul
Period8/20/908/22/90

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Computer Science Applications
  • Artificial Intelligence

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  • Cite this

    Bitó, J. F., Eröss, G., & Tar, J. (1990). Data transfer requirements for controlling wrist joint structure robots in case of maximum decentralization. In Proceedings of the IEEE International Workshop on Intelligent Motion Control, IMC 1990 (pp. 847-850). [687432] (Proceedings of the IEEE International Workshop on Intelligent Motion Control, IMC 1990; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IMC.1990.687432