Model-Free control of electrically driven robot manipulators using a Tracking-Differentiator
Publish place: First National Conference on Electrical Engineering, Computer Science and Communications Technology
Publish Year: 1397
Type: Conference paper
Language: English
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Document National Code:
ECTCONF01_061
Index date: 5 October 2019
Model-Free control of electrically driven robot manipulators using a Tracking-Differentiator abstract
This paper presents a very simple model-free control approach based on the voltage control strategy for robot manipulators. The novelty of this paper, in addition to the very simple model -free control approach, is the use of Tracking-Differentiator to calculate the velocity of each joints. Therefore, the number of required sensors is reduced. The control system is consisted of a total disturbance estimator, and a simple controller. The case study is an articulated robot manipulator driven by permanent magnet DC motors. Simulation results and comparison verify the effectiveness of the proposed approach
Model-Free control of electrically driven robot manipulators using a Tracking-Differentiator Keywords:
Model-Free control of electrically driven robot manipulators using a Tracking-Differentiator authors
Amir Saleki
Department of Electrical and Robotic Engineering Shahrood University of Technology Shahrood, Iran
Mohammad Mehdi Fateh
Department of Electrical and Robotic Engineering Shahrood University of Technology Shahrood, Iran