@inbook{0013421318a54e8389a8c6877b8cbb66,
title = "Design the Adaptive Controller for Delta Robots with the Decoupling-Current Servo Motor",
abstract = "To pursue high-speed motion control for robots, applications of servo motors with appropriate controllers may render fast responses with satisfactory precision. However, the current coupling effect on the servo motor control unavoidably downgrades stability and contouring precision as the operation speed increases in practice. This paper proposes a control structure simply by adding a decoupling gain Kc to significantly improve stability of motor control systems under high-speed operations. Simulation results on the joints of a Delta robot indicate that the present decoupling control structure effectively leads to satisfactory performance and precision under high-speed operations.",
author = "Wei-Sheng Huang and Pau-Lo Hsu",
year = "2015",
doi = "10.1007/978-3-319-22876-1_18",
language = "English",
isbn = "978-3-319-22876-1; 978-3-319-22875-4",
volume = "9245",
series = "Lecture Notes in Artificial Intelligence",
publisher = "IEEE",
pages = "197--208",
editor = "D Zhou and R Dillmann and X Zhu and N Kubota and H Liu",
booktitle = "INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II",
note = "8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 ; Conference date: 24-08-2015 Through 27-08-2015",
}