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Single Joint Control of a Flexible Industrial Manipulator using H Loop Shaping
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2012 (English)Report (Other academic)
Abstract [en]

Control of a flexible joint of an industrial manipulator using H loop shaping design is presented. Two controllers are proposed; 1) H loop shaping using the actuator position, and 2) H loop shaping using the actuator position and the acceleration of end-effector. The two controllers are compared to a standard PID controller where only the actuator position is measured. Using the acceleration of the end-effector improves the nominal performance. The performance of the proposed controllers is not significantly decreased in the case of model error consisting of an increased time delay or a gain error.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2012. , 8 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3053
Keyword [en]
Industrial robots, flexible joint, robust control, H-infinity loop shaping
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-84921ISRN: LiTH-ISY-R-3053OAI: oai:DiVA.org:liu-84921DiVA: diva2:562932
Projects
LINK-SIC
Available from: 2012-10-29 Created: 2012-10-26 Last updated: 2014-06-16Bibliographically approved

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Authority records BETA

Axelsson, PatrikHelmersson, AndersNorrlöf, Mikael

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf