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

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dc.citation.epage285en_US
dc.citation.spage280en_US
dc.contributor.authorGüler, Sameten_US
dc.contributor.authorÖzgüler, A. Bülenten_US
dc.coverage.spatialMiedzyzdrojie, Polanden_US
dc.date.accessioned2016-02-08T12:10:17Z
dc.date.available2016-02-08T12:10:17Z
dc.date.issued2012-08en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionConference Name: 17th International Conference on Methods & Models in Automation & Robotics, MMAR 2012
dc.descriptionDate of Conference: 27-30 August 2012
dc.description.abstractServomechanism 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.en_US
dc.description.provenanceMade available in DSpace on 2016-02-08T12:10:17Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 70227 bytes, checksum: 26e812c6f5156f83f0e77b261a471b5a (MD5) Previous issue date: 2012en
dc.identifier.doi10.1109/MMAR.2012.6347874en_US
dc.identifier.urihttp://hdl.handle.net/11693/28071
dc.language.isoEnglishen_US
dc.publisherIEEE
dc.relation.isversionofhttp://dx.doi.org/10.1109/MMAR.2012.6347874en_US
dc.source.title17th International Conference on Methods & Models in Automation & Robotics, MMAR 2012en_US
dc.subjectDisturbance modelsen_US
dc.subjectDynamic equationsen_US
dc.subjectInternal model principleen_US
dc.subjectLinear controllersen_US
dc.subjectLinearized modelsen_US
dc.subjectPID controllersen_US
dc.subjectPlant modelen_US
dc.subjectRegulation controlen_US
dc.subjectRobot armsen_US
dc.subjectTwo-degree-of-freedomen_US
dc.subjectLinear control systemsen_US
dc.subjectRobotic armsen_US
dc.subjectThree term control systemsen_US
dc.subjectRoboticsen_US
dc.titleTracking and regulation control of a 2-DOF robot arm with unbalanceen_US
dc.typeConference Paperen_US

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