Single Joint Control of a Flexible Industrial Manipulator using H∞ Loop Shaping
2012 (English)Report (Other academic)
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.
LiTH-ISY-R, ISSN 1400-3902 ; 3053
Industrial robots, flexible joint, robust control, H-infinity loop shaping
IdentifiersURN: urn:nbn:se:liu:diva-84921ISRN: LiTH-ISY-R-3053OAI: oai:DiVA.org:liu-84921DiVA: diva2:562932