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
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;
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
DOI :
10.1109/SECON.1994.324328
