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      Tracking and regulation control of a 2-DOF robot arm with unbalance

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      Author
      Güler, Samet
      Özgüler, A. Bülent
      Date
      2012-08
      Source Title
      17th International Conference on Methods & Models in Automation & Robotics, MMAR 2012
      Publisher
      IEEE
      Pages
      280 - 285
      Language
      English
      Type
      Conference Paper
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      Abstract
      Servomechanism synthesis for a two degree-of-freedom robot arm assembled on a vessel and affected from sea disturbances is considered. Dynamic equations of the robot arm with unbalance and of an approximate base disturbance model are derived. Direct linear controller synthesis based on a linearized model is then studied. It is shown that, although the plant model is nonlinear, linear controller that is synthesized based on the "internal model principle" provide good performance and perform better than the commonly used PID controllers. © 2012 IEEE.
      Keywords
      Disturbance models
      Dynamic equations
      Internal model principle
      Linear controllers
      Linearized models
      PID controllers
      Plant model
      Regulation control
      Robot arms
      Two-degree-of-freedom
      Linear control systems
      Robotic arms
      Three term control systems
      Robotics
      Permalink
      http://hdl.handle.net/11693/28071
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/MMAR.2012.6347874
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      • Department of Electrical and Electronics Engineering 3337

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