Robustness Comparison of Robotˈs Position Control Systems

• Autorzy: Tomáš Fedor , Ján Vittek , Peter Butko , Vladimír Vavruš
• Języki publikacji: EN

Abstrakty

EN

This paper describes main disturbances in robot position control system and their influence on PI and SMC control structure. Possibility of linear analytic method for parameters setting of booth techniques was shown. One of the most important features is stability of control system and prediction of dynamic behaviour of position control to avoid mechanical damage of robot mechanical subsystem. Stability of SMC control technique respecting also voltage limitation and variable inertia change problems were shown.(original abstract)

Słowa kluczowe

EN

Robotization

PL

Robotyzacja

• Czasopismo: Logistyka
• Rocznik: 2014
• Numer: nr 6, CD 3
• Strony: 3533--3543

Twórcy

autor

Tomáš Fedor

• University of Žilina

autor

Ján Vittek

• University of Žilina

autor

Peter Butko

• University of Žilina

autor

Vladimír Vavruš

• University of Žilina

Bibliografia

• 1. S. Moberg, S Hanssen "A DAE approach to Feed-forward Control of Flexible Manipulators", 2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14 April 2007
• 2. O. Šimko "Control of Complex Mechatronics Systems using Inteligent Models and Estimators" 2009 Košice, (in Slovak).
• 3. J. Skařupa, "Industrial Robots and Manipulators". Ostrava : Printing Centre VŠB - TUO, 2007. ISBN 978-80-248-1522-0. (in Czech).
• 4. N. Adhikary, C. Mahanta "Backstepping Sliding Mode Controller for a coordinated Links (COOL) Robot arm" 2014 13th IEEE Workshop on Variable structure systems
• 5. R. Grepl. "Modelling of Mechatronics Systems in Matlab SimMechanics". Praha Ben-Technical literature, 2007. (in Czech).
• 6. M. W. Spong and M. Vidyasagar, "Robot Dynamics and Control." John Wiley & Sons, 2008.
• 7. R. K. Munje, M. R. Roda, B. E. Kushare "Speed Control of DC Motor Using PI and SMC"IEEE IPEC 2010
• 8. J.Vittek, P.Bris, M.Stulrajter "Chattering Free Sliding Mode Control Law for the Drive employing PMSM Position Control" IEEE 2008 Journal of Electrical Engineering