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

Date
2012-08
Advisor
Instructor
Source Title
17th International Conference on Methods & Models in Automation & Robotics, MMAR 2012
Print ISSN
Electronic ISSN
Publisher
IEEE
Volume
Issue
Pages
280 - 285
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
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.

Course
Other identifiers
Book Title
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
Citation
Published Version (Please cite this version)