Title :
Loop Gain-Phase Shaping Techniques for Robust Multi-Axis Coordinated Motion Control
Author :
Bailey, F.N. ; Kallel, M.
Author_Institution :
Department of Electrical Engineering, University of Minnesota, Minneapolis, MN 55455
Abstract :
A solution to the robust multi-axis coordinated motion problem is presented using the loop gain-phase shaping (LGPS) technique of quantitative feedback theory (QFT). Robust contouring specifications are translated into closed loop gain and phase robustness specifications by using a relaxed performance criterion. A two axis example is presented to demonstrated the concepts.
Keywords :
Gain measurement; Motion control; Orbital robotics; Performance gain; Robot kinematics; Robust control; Robustness; Servomechanisms; Spatial resolution; Tellurium;
Conference_Titel :
American Control Conference, 1992
Conference_Location :
Chicago, IL, USA
Print_ISBN :
0-7803-0210-9
