DocumentCode
2088914
Title
Biologically motivated servomechanism controller design
Author
Zein-Sabatto, S. ; Bodruzzman, M. ; Malkani, M.
Author_Institution
Coll. of Eng. & Technol., Tennessee State Univ., Nashville, TN, USA
fYear
1994
fDate
10-13 Apr 1994
Firstpage
329
Lastpage
333
Abstract
A simple classical control system is designed for a human like (HL) robot joint. First, detailed development of the joint´s dynamic model is presented, Then a classical design procedure is implemented for the design of a proportional controller. A numerical example is provided and simulation results are presented for illustration. The limitations of the designed controller are discussed and recommendations for advanced controller design are suggested
Keywords
proportional control; robots; servomechanisms; biologically motivated servomechanism controller design; classical control system; classical design procedure; dynamic model; human like robot joint; proportional controller; Biological control systems; Control systems; Friction; Laplace equations; Prototypes; Robots; Servomechanisms; Servomotors; Torque; Transfer functions;
fLanguage
English
Publisher
ieee
Conference_Titel
Southeastcon '94. Creative Technology Transfer - A Global Affair., Proceedings of the 1994 IEEE
Conference_Location
Miami, FL
Print_ISBN
0-7803-1797-1
Type
conf
DOI
10.1109/SECON.1994.324328
Filename
324328
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