Title :
A new robust controller of robotic joint
Author :
Wu Chengdong ; Liu Jian ; Xu Yongjie ; Liu Zongfu
Author_Institution :
Shenyang Archit. & Civil Eng. Inst., China
Abstract :
A measurement and computation method of acceleration for each joint is described. Measured acceleration signals are filtered by a fourth order Butterworth filter. The robust principle of acceleration feedback is analyzed. Nonlinearities and disturbances of the system can be diminished by feeding back a dead zone nonlinearity around the integrator. The overshoot and saturation of the integrator can be reduced by the controller. The general principle of selecting parameters of the dead zone nonlinearity is presented. Thus, a robust joint controller is obtained and control performances of the system are improved.<>
Keywords :
acceleration measurement; control system synthesis; feedback; robots; robust control; three-term control; acceleration signals; control performances; dead zone nonlinearity; fourth order Butterworth filter; joint controller; robust controller; Acceleration; Accelerometers; Control systems; Feedback; Filters; Nonlinear equations; Robot control; Robust control; Three-term control; Torque control;
Conference_Titel :
TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on
Conference_Location :
Beijing, China
Print_ISBN :
0-7803-1233-3
DOI :
10.1109/TENCON.1993.320443
