Abstract
The implementation of plug-in repetitive control on the direct drive axis of a prototype GMF A500 robot is considered. Plug-in repetitive control was developed and implemented using an IBM AT. A multirate sampling algorithm was designed to reduce the memory requirements of repetitive control. A microcontroller board based on the Intel 8096 was designed so that plug-in repetitive control could be applied from a small unit embedded within the KAREL controller. In each application, experimental results show that the tracking error is smoothly absorbed in a few cycles.
| Original language | English (US) |
|---|---|
| Title of host publication | Proc 1990 IEEE Int Conf Rob Autom |
| Publisher | Publ by IEEE |
| Pages | 1970-1975 |
| Number of pages | 6 |
| ISBN (Print) | 0818620617 |
| State | Published - Dec 1 1990 |
| Externally published | Yes |
| Event | Proceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA Duration: May 13 1990 → May 18 1990 |
Publication series
| Name | Proc 1990 IEEE Int Conf Rob Autom |
|---|
Other
| Other | Proceedings of the 1990 IEEE International Conference on Robotics and Automation |
|---|---|
| City | Cincinnati, OH, USA |
| Period | 5/13/90 → 5/18/90 |
ASJC Scopus subject areas
- Engineering(all)
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Cite this
Cosner, C., Anwar, G., & Tomizuka, M. (1990). Plug in repetitive control for industrial robotic manipulators. In Proc 1990 IEEE Int Conf Rob Autom (pp. 1970-1975). (Proc 1990 IEEE Int Conf Rob Autom). Publ by IEEE.