DocumentCode
489489
Title
Loop Gain-Phase Shaping Techniques for Robust Multi-Axis Coordinated Motion Control
Author
Bailey, F.N. ; Kallel, M.
Author_Institution
Department of Electrical Engineering, University of Minnesota, Minneapolis, MN 55455
fYear
1992
fDate
24-26 June 1992
Firstpage
921
Lastpage
923
Abstract
A solution to the robust multi-axis coordinated motion problem is presented using the loop gain-phase shaping (LGPS) technique of quantitative feedback theory (QFT). Robust contouring specifications are translated into closed loop gain and phase robustness specifications by using a relaxed performance criterion. A two axis example is presented to demonstrated the concepts.
Keywords
Gain measurement; Motion control; Orbital robotics; Performance gain; Robot kinematics; Robust control; Robustness; Servomechanisms; Spatial resolution; Tellurium;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792219
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