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
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;
Conference_Titel :
Power Electronics and Drive Systems, 2003. PEDS 2003. The Fifth International Conference on
Print_ISBN :
0-7803-7885-7
DOI :
10.1109/PEDS.2003.1283234
