Tracking and regulation control of a 2-DOF robot arm with unbalance
Author
Güler, Samet
Özgüler, A. Bülent
Date
2012-08Source Title
17th International Conference on Methods & Models in Automation & Robotics, MMAR 2012
Publisher
IEEE
Pages
280 - 285
Language
English
Type
Conference PaperItem Usage Stats
138
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379
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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 modelsDynamic 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/11693/28071Published Version (Please cite this version)
http://dx.doi.org/10.1109/MMAR.2012.6347874Collections
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