Robustness comparison of robotˈs position control systems

• Autorzy: Fedor T. , Vittek J. , Butko P. , Vavruš V.
• 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.

Słowa kluczowe

EN

robots; position control system

PL

roboty; układ regulacji

• Wydawca: Sieć Badawcza Łukasiewicz - Poznański Instytut Technologiczny
• Czasopismo: Logistyka
• Rocznik: 2014
• Tom: nr 6
• Strony: 3532--3543
• Opis fizyczny: Bibliogr. 8 poz., rys., schem., tab., wykr., pełen tekst na CD3

Twórcy

autor

Fedor T.

• University of Žilina, Faculty of Electrical Engineering, Department of Power Electrical Systems, 010 26 Žilina, Slovac Republic

autor

Vittek J.

• University of Žilina, Faculty of Electrical Engineering, Department of Power Electrical Systems, 010 26 Žilina, Slovac Republic

autor

Butko P.

• University of Žilina, Faculty of Electrical Engineering, Department of Power Electrical Systems, 010 26 Žilina, Slovac Republic

autor

Vavruš V.

• University of Žilina, Faculty of Electrical Engineering, Department of Power Electrical Systems, 010 26 Žilina, Slovac Republic

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