caa a22 4500 465797652 CHVBK 20180323112042.0 cr unu---uuuuu 170327e19900901xx s 000 0 eng 10.1007/BF00126070 doi (NATIONALLICENCE)springer-10.1007/BF00126070 Robots positioning control revisited [Elektronische Daten] [R. Gorez, J. O'Shea] Positioning control systems for robot arms are presented within a general framework in view of unification and classification. Treating coupling torques from other links as an external disturbance reduces the design of the control system to that of SISO servomechanisms driving each of the robot axes individually. A short survey of many control strategies proposed in the literature presents them as different methods aiming at attenuation of this disturbance. The use of disturbance observers is shown to provide a nice and simple way for that purpose. This could be applied to the improvement of actual industrial robots at the cost of slight software modifications. Kluwer Academic Publishers, 1990 Robot controllers nationallicence positioning control nationallicence disturbance observers nationallicence Gorez R. Unité d'Automatique, Université de Louvain, Bat. Maxwell, Pl. du Levant, 3, B-1348, Louvain-La-Neuve, Belgium aut O'Shea J. Ecole Polytechnique de Montréal, Section d'Automatique, Campus de l'Université de Montréal, CP 6079 Succ ‘A', H3C 3A7, Montreal, Québec, Canada aut Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 213-231 0921-0296 3:3<213 1990 3 10846 https://doi.org/10.1007/BF00126070 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00126070 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Gorez R. Unité d'Automatique, Université de Louvain, Bat. Maxwell, Pl. du Levant, 3, B-1348, Louvain-La-Neuve, Belgium aut NATIONALLICENCE 700 1- O'Shea J. Ecole Polytechnique de Montréal, Section d'Automatique, Campus de l'Université de Montréal, CP 6079 Succ ‘A', H3C 3A7, Montreal, Québec, Canada aut NATIONALLICENCE 773 0- Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/3(1990-09-01), 213-231 0921-0296 3:3<213 1990 3 10846 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer