Title :
Influence of variable moment of inertia in robot servo motor control
Author :
Fedor, T. ; Vittek, J. ; Sindler, P.
Author_Institution :
Dept. of Power Electr. Syst., Univ. of Zilina, Zilina, Slovakia
Abstract :
This article describes problem of variable moment of inertia in robotic system control which is common in the mechatronic system control. Mechatronic approach is important for solution of such problems, but the best approach is to analyse and solve the problems via control of servomotor. Influence of variable moment of inertia is shown on the cascade PID structure. An extension of the control structure based on computing of moment of inertia is proposed to solve variable of moment of inertia problem.
Keywords :
cascade control; mechatronics; robot dynamics; robot kinematics; servomotors; three-term control; cascade PID control structure; mechatronic system control; robot servo motor control; robotic system control; variable moment of inertia problem; Bandwidth; Computational modeling; Control systems; Service robots; Robot control; cascade PID structure; inertial properties; moment of inertia;
Conference_Titel :
ELEKTRO, 2014
Conference_Location :
Rajecke Teplice
Print_ISBN :
978-1-4799-3720-2
DOI :
10.1109/ELEKTRO.2014.6847894
