DocumentCode :
2767753
Title :
Industrial robot control system with torque-based estimator for rejection of perturbations
Author :
Bahrin, V. ; Haba, C.G. ; Cojocaru-Filipiuc, C.
Author_Institution :
Dept. of Electr. Eng., Iasi Univ., Romania
Volume :
2
fYear :
2003
fDate :
17-20 Nov. 2003
Firstpage :
1624
Abstract :
In this paper are presented some aspects regarding the rejection of perturbations which appear in the operation of industrial robots. We present the control system with internal model control (IMC) which is compared with the classical feedback control system. The implementation of a torque estimator which permits the realization of an acceleration controller. Finally, we present the answer for a DC motor obtained experimentally and by numerical simulation when a torque perturbation appears in the system.
Keywords :
DC motors; acceleration control; control system analysis computing; industrial control; industrial robots; numerical analysis; perturbation techniques; torque; DC motor; acceleration controller; feedback control system; industrial robot control system; internal model control; numerical simulation; perturbations rejection; torque perturbation; torque-based estimator; Acceleration; Control system synthesis; DC motors; Electrical equipment industry; Feedback control; Industrial control; Numerical simulation; Robot control; Service robots; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Power Electronics and Drive Systems, 2003. PEDS 2003. The Fifth International Conference on
Print_ISBN :
0-7803-7885-7
Type :
conf
DOI :
10.1109/PEDS.2003.1283234
Filename :
1283234
Link To Document :
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