Modeling and digital control of direct drive arm

Author

Kim, Soo Hyun ; Kim, Kab II ; Park, Kyihwan

Author_Institution

Dept. of Precision Eng. and Mechatronics, KAIST, Taejon, South Korea

fYear

1994

fDate

5-9 Dec 1994

Firstpage

555

Lastpage

559

Abstract

The SCARA type direct drive arm (DDA) sustaining the attribute of a parallel linkage mechanism is modeled and controlled. The control of DDA becomes more sophisticated compared to the conventional geared arm due to the substantial increase of moving speed and dynamic interactions. In order to solve this problem, the complete discrete-time dynamic model is developed. The dynamic compensation control scheme based on the discrete-time dynamic model is tested and evaluated according to the tracking performances of the given trajectories. This control scheme based on the dynamic compensation at sampling rate 100 Hz shows better performance than the independent joint control scheme of 1.5 KHz sampling rate

Keywords

compensation; digital control; discrete time systems; manipulator dynamics; position control; tracking; SCARA type; digital control; direct drive arm; discrete-time dynamic model; dynamic compensation; dynamic interactions; modelling; parallel linkage mechanism; tracking; Control system synthesis; Couplings; Digital control; Friction; Manipulator dynamics; Mechatronics; Nonlinear dynamical systems; Robots; Torque; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1994., Proceedings of the IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

0-7803-1978-8

Type

conf

DOI

10.1109/ICIT.1994.467140

Filename

467140