On The Control Of Robot Manipulator

C. S.G. Lee

doi:10.1117/12.937931

13 December 1983 On The Control Of Robot Manipulator

C. S.G. Lee

Proceedings Volume 0442, Robotics and Robot Sensing Systems; (1983) https://doi.org/10.1117/12.937931
Event: 27th Annual Technical Symposium, 1983, San Diego, United States

Abstract

The purpose of robot arm control is to maintain a prescribed motion for the manipulator along a desired trajectory by applying corrective compensation torques to the actuators to adjust for any deviations of the manipulator from the trajectory. This paper presents various control methods for industrial robots. It begins with the discussion of various dynamic models for manipulators and covers several existing control methods from simple servomechanism to advanced controls such as adaptive control with identification algorithm.

Citation Download Citation

C. S.G. Lee "On The Control Of Robot Manipulator", Proc. SPIE 0442, Robotics and Robot Sensing Systems, (13 December 1983); https://doi.org/10.1117/12.937931

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available