DocumentCode :
1300454
Title :
Comparison of two feedforward design methods aiming at accurate trajectory tracking of the end point of a flexible robot arm
Author :
Torfs, Dirk E. ; Vuerinckx, Rudi ; Swevers, Jan ; Schoukens, Johan
Author_Institution :
Div. PMA, Katholieke Univ., Leuven, Heverlee, Belgium
Volume :
6
Issue :
1
fYear :
1998
fDate :
1/1/1998 12:00:00 AM
Firstpage :
2
Lastpage :
14
Abstract :
This paper discusses the design and properties of two trajectory tracking controllers for linear time-invariant systems, and compares their implementation and experimental results on a flexible one-link robot equipped with a velocity-controlled actuator. High positioning accuracy and low tracking errors within a specified bandwidth are their performance specifications. Both controllers use the same state feedback controller, but have a different feedforward design approach. Both feedforward methods design stable prefilters which approximate the unstable inverse system model. The first method designs a stable prefilter using the extended bandwidth zero phase error tracking control (EBZPETC) method. The second feedforward method adds delay to the inverse model and then uses common filter design techniques to approximate this delayed frequency response
Keywords :
control system synthesis; feedforward; filtering theory; flexible structures; manipulators; stability; state feedback; tracking; EBZPETC; LTI systems; ZPETC; accurate trajectory tracking; bandwidth; delay; delayed frequency response; end point; extended bandwidth zero phase error tracking control; feedforward design methods; filter design techniques; flexible one-link robot; flexible robot arm; inverse model; linear time-invariant systems; positioning accuracy; stable prefilters; state feedback controller; tracking errors; velocity-controlled actuator; Bandwidth; Control systems; Design methodology; Error correction; Hydraulic actuators; Inverse problems; Robots; State feedback; Trajectory; Velocity control;
fLanguage :
English
Journal_Title :
Control Systems Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
1063-6536
Type :
jour
DOI :
10.1109/87.654872
Filename :
654872
Link To Document :
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