Disturbance rejection by PI estimator in position robot control

Author

Rojko, Andreja ; Jezernik, Karel

Author_Institution

Fac. of Electr. Eng. & Comput. Sci., Maribor Univ., Slovenia

Volume

3

fYear

1999

fDate

1999

Firstpage

1056

Abstract

Disturbance rejection by a PI estimator in position robot control is a well-known control technique. With proper locations of the estimator poles, it enables high performance of the system. This paper presents an analysis that gives some instructions for determining the controller parameters. These instructions can be used when implementing the PI estimator on general motion control systems and not only on robotic manipulators. The results of mathematical analysis were successfully proven by experiments on a 3-DOF Puma like direct drive robot

Keywords

control system analysis; manipulators; motion control; parameter estimation; poles and zeros; position control; two-term control; PI estimator; Puma-like direct drive robot; control performance; control simulation; control technique; controller parameters determination; disturbance rejection; estimator poles; position robot control; robotic manipulators; Couplings; Differential equations; Friction; Manipulator dynamics; Motion control; Motion estimation; Position measurement; Robot control; Sliding mode control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on

Conference_Location

Bled

Print_ISBN

0-7803-5662-4

Type

conf

DOI

10.1109/ISIE.1999.796776

Filename

796776