Plug in repetitive control for industrial robotic manipulators

C. Cosner, G. Anwar, M. Tomizuka

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

121 Scopus citations

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 languageEnglish (US)
Title of host publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages1970-1975
Number of pages6
ISBN (Print)0818620617
StatePublished - Dec 1 1990
Externally publishedYes
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990

Publication series

NameProc 1990 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period5/13/905/18/90

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.