Motion Control
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Transcript of Motion Control
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Motion Control
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Two-Link Planar RobotTwo-Link Planar Robot
Determine Kp and Kv and Tv
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Two-Link Planar RobotTwo-Link Planar Robot
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Independent Joint ControlIndependent Joint Control
Assuming that the actuator is a rotary dc motor Assuming that the actuator is a rotary dc motor
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Position and Velocity FeedbackPosition and Velocity Feedback
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Position and Velocity FeedbackPosition and Velocity Feedback
Choose the zero of the controller to cancel Choose the zero of the controller to cancel
the real pole by settingthe real pole by setting
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The closed loop transfer function
Position and Velocity FeedbackPosition and Velocity Feedback
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Decentralized Forward CompensationDecentralized Forward Compensation
Why is this pole-zero cancellation scheme feasible?
Reduce tracking error but have no effect on disturba
nce rejection due to the open loop nature
Depend on exact matching of controller and compen
sation parameters with process param. etc.
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Decentralized Forward CompensationDecentralized Forward Compensation
Block scheme of decentralized forward compensation
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Computed Torque Feedforward ControlComputed Torque Feedforward Control
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Computed Torque Feedforward ControlComputed Torque Feedforward Control
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Operational Space ControlOperational Space Control
Difficult to measure operation space variables
Considerable computational requirements
Necessary for controlling interaction between
manipulator and environment (no exact reference input)