Title :
Experimental valuation of decentralized controllers for industrial robot manipulators
Author :
Legnani, Giovanni ; Visioli, Antonio
Author_Institution :
Dipt. di Ingegneria Meccanica, Brescia Univ., Italy
Abstract :
We present an experimental comparison among decentralized controllers for industrial manipulators. Three control laws (PID, Tarokh´s nonlinear three term control, sliding mode) have been selected from those presented in the literature, which are suitable for the dynamic control of industrial manipulators since they do not need a system model and they require simple control architectures. Practical experimentations have been performed using a simple PC-based controller, and a 2-DOF system with a dynamic behaviour similar to the one of an industrial robot. The paper presents the problems which have encountered and the performances achieved in terms of tracking errors
Keywords :
control system analysis; decentralised control; industrial robots; nonlinear control systems; robot dynamics; three-term control; tracking; variable structure systems; 2-DOF system; PID control; Tarokh control; decentralized control; dynamic control; industrial robot; manipulators; nonlinear control systems; sliding mode control; trajectory tracking; Control systems; Cost accounting; Electrical equipment industry; Industrial control; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Service robots; Sliding mode control; Three-term control;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.728535
