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- W2092215570 abstract "A simple and high performance motion control method for robot manipulators in task-oriented coordinates is proposed. In this method, it is necessary that a controller for each joint generates a specified acceleration. To extend the result to robot manipulators with multiple degrees of freedom (DOF), the acceleration tracing orientation method (ATOM) is used. The ATOM is a controller design method in task-oriented space. A high performance position controller and hybrid position/force controller are easily realized by the ATOM. From the analyses of the controllers, it is known that a precise acceleration controller is the key to improving the performance of the ATOM. Realization of a strict acceleration controller, however, is almost impossible using conventional disturbance compensation methods. For example, inverse dynamics involves complicated calculations and is susceptible to parameter variations. Recent research on a disturbance observer has enabled the realization of an acceleration controller. Cont..." @default.
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- W2092215570 date "1992-01-01" @default.
- W2092215570 modified "2023-09-26" @default.
- W2092215570 title "Motion control of robot manipulators by a joint acceleration controller" @default.
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- W2092215570 doi "https://doi.org/10.1163/156855393x00041" @default.
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