DocumentCode
2543504
Title
Robust control of manipulator arm using combined shame via performance limitation
Author
MohammadZadeh, N. ; Mola, M. ; Amirifar, R.
Author_Institution
Electr. Eng. Dept., Tarbiat Modares Univ., Tehran, Iran
fYear
2009
fDate
24-26 June 2009
Firstpage
1325
Lastpage
1330
Abstract
The control of an industrial manipulator arm with high accuracy in the presence of multi-model is a challenging control problem. In this paper, it is shown that based on identified models a robust linear controller can be designed using the combined pole placement method with sensitivity function shaping in the frequency domain via performance limitation for example modulus margin. This controller provides satisfactory performance for a large range of load variations.
Keywords
industrial robots; manipulators; poles and zeros; robust control; sensitivity analysis; industrial manipulator arm; performance limitation; pole placement method; robust linear controller; sensitivity function shaping; Elasticity; Frequency domain analysis; Gears; Industrial control; Load management; Robust control; Robust stability; Shape control; State feedback; Uncertainty; Loop shaping; Manipulator arm; Modulus margin; Pole placement; Robust control; component;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location
Thessaloniki
Print_ISBN
978-1-4244-4684-1
Electronic_ISBN
978-1-4244-4685-8
Type
conf
DOI
10.1109/MED.2009.5164730
Filename
5164730
Link To Document