DocumentCode
487871
Title
An Application of LQ Control to a Two Link SCARA Manipulator
Author
Smith, David L.
Author_Institution
Associate Professor, Department of Mechanical Engineering, Naval Postgraduate School, Monterey, CA 93943
fYear
1989
fDate
21-23 June 1989
Firstpage
1476
Lastpage
1483
Abstract
A Linear Quadratic (LQ) controller is a logical improvement beyond a classical Proportional-plus-derivative (PD) controller. In this paper, an LQ tracking controller using gain scheduling is designed for a task on an idealized two degree of freedom SCARA Manipulator. The LQ performance is evaluated alogside that of a PD tracker operating on the same idealized manipulator model performaing the same task. Following this, a more complete model of the manipulator hardware is used to evaluate the robustness of the controllers in performing the task. The effects of friction and load parameter variations are investigated, as are the effects of unmodelled dynamics in the drive motors.
Keywords
Control systems; Error correction; Hardware; Manipulator dynamics; PD control; Performance evaluation; Performance gain; Proportional control; Robust control; Servomechanisms;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1989
Conference_Location
Pittsburgh, PA, USA
Type
conf
Filename
4790420
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