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