Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.
Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator / Mandić, P. D.; Lino, P.; Maione, G.; Lazarević, M. P.; Šekara, T. B.. - ELETTRONICO. - 53:2(2020), pp. 3669-3674. (Intervento presentato al convegno 21st IFAC World Congress 2020 tenutosi a Berlin, Germany nel July 11-17, 2020) [10.1016/j.ifacol.2020.12.2050].
Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator
P. Lino;G. Maione;
2020-01-01
Abstract
Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
