Experimental valuation of decentralized controllers for industrial robot manipulators

Author

Legnani, Giovanni ; Visioli, Antonio

Author_Institution

Dipt. di Ingegneria Meccanica, Brescia Univ., Italy

Volume

1

fYear

1998

fDate

1-4 Sep 1998

Firstpage

567

Abstract

We present an experimental comparison among decentralized controllers for industrial manipulators. Three control laws (PID, Tarokh´s nonlinear three term control, sliding mode) have been selected from those presented in the literature, which are suitable for the dynamic control of industrial manipulators since they do not need a system model and they require simple control architectures. Practical experimentations have been performed using a simple PC-based controller, and a 2-DOF system with a dynamic behaviour similar to the one of an industrial robot. The paper presents the problems which have encountered and the performances achieved in terms of tracking errors

Keywords

control system analysis; decentralised control; industrial robots; nonlinear control systems; robot dynamics; three-term control; tracking; variable structure systems; 2-DOF system; PID control; Tarokh control; decentralized control; dynamic control; industrial robot; manipulators; nonlinear control systems; sliding mode control; trajectory tracking; Control systems; Cost accounting; Electrical equipment industry; Industrial control; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Service robots; Sliding mode control; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on

Conference_Location

Trieste

Print_ISBN

0-7803-4104-X

Type

conf

DOI

10.1109/CCA.1998.728535

Filename

728535