Motion Control. Two-Link Planar Robot Determine Kp and Kv and Tv.

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Presentation transcript:

Motion Control

Two-Link Planar Robot Determine Kp and Kv and Tv

Two-Link Planar Robot

Independent Joint Control  Assuming that the actuator is a rotary dc motor

Position and Velocity Feedback

 Choose the zero of the controller to cancel the real pole by setting

 The closed loop transfer function Position and Velocity Feedback

Decentralized Forward Compensation  Why is this pole-zero cancellation scheme feasible?  Reduce tracking error but have no effect on disturbance rejection due to the open loop nature  Depend on exact matching of controller and compensation parameters with process param. etc.

Decentralized Forward Compensation  Block scheme of decentralized forward compensation

Computed Torque Feedforward Control

Operational Space Control  Difficult to measure operation space variables  Considerable computational requirements  Necessary for controlling interaction between manipulator and environment (no exact reference input)