Title :
Robust control of manipulator arm using combined shame via performance limitation
Author :
MohammadZadeh, N. ; Mola, M. ; Amirifar, R.
Author_Institution :
Electr. Eng. Dept., Tarbiat Modares Univ., Tehran, Iran
Abstract :
The control of an industrial manipulator arm with high accuracy in the presence of multi-model is a challenging control problem. In this paper, it is shown that based on identified models a robust linear controller can be designed using the combined pole placement method with sensitivity function shaping in the frequency domain via performance limitation for example modulus margin. This controller provides satisfactory performance for a large range of load variations.
Keywords :
industrial robots; manipulators; poles and zeros; robust control; sensitivity analysis; industrial manipulator arm; performance limitation; pole placement method; robust linear controller; sensitivity function shaping; Elasticity; Frequency domain analysis; Gears; Industrial control; Load management; Robust control; Robust stability; Shape control; State feedback; Uncertainty; Loop shaping; Manipulator arm; Modulus margin; Pole placement; Robust control; component;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164730
