Control Of Articulated Robot Arm With Sensory Feedback: Laser Beam Tracking System

Katsuhisa Furuta, Kazuhiro Kosuge, Nobuhiko Mukai

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)


This article presents a control scheme for a computer controlled articulated robot arm with sensory feedback. The scheme consists of two parts. First, the dynamics of a robot arm described in a task coordinate system, which is selected appropriately for the use of sensory feedback, is linearized by nonlinear feedback. Then, the model following servo controller is designed so that the effect of errors of parameters, which is used for the linearization of robotic dynamics, can be decreased. The control law is shown to be simplified by the use of high-gain feedback. The scheme is applied to the trajectory tracking control of an articulated robot arm using a laser beam. The experimental results show the effectiveness of the proposed control method.

Original languageEnglish
Pages (from-to)31-39
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - 1988 Feb
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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