Optimal Torque Control of SCARA Robot Driven by Stepping Motor.
نویسندگان
چکیده
منابع مشابه
Enhanced Contour Control of SCARA Robot Under Torque Saturation Constraint
Contour control of a robot arm is an act of the end-effector tip being moved along a reference Cartesian path, with an assigned velocity. When torque saturation occurs, and lasts for some time, contour deteriorations result. In addition, system delay dynamics also causes contour deteriorations. In this paper, an offline trajectory generation algorithm is described, which achieves both optimum a...
متن کاملoptimal adaptive fuzzy integral sliding model control for electrically driven scara robot manipulator
in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...
متن کاملOptimizing speed and angle control of stepping motor by using field oriented control
In the present study, field oriented control of step motor implementation has been analyzed sothat it can make a Sensorless control. Efficiency and Facilities of step motor is more than othertypes of electromotor. Therefore, the numbers of mechanisms and different types of turning canbe made into them. Also controlling these motors is easier than other available motors. Steppingmotor has been d...
متن کاملOn Line Determination of Optimal Hysteresis Band Amplitudes in Direct Torque Control of Induction Motor Drives
In conventional direct torque control (DTC) of induction machines, undesirable flux and torque ripples are produced. These occur since non of the selected inverter's voltage vectors are able to generate the exact voltage required to produce the desired changes in the electromagnetic torque and stator flux linkage in most of the switching instances. In addition, when direct torque control is imp...
متن کاملAn Experiment in Neuro-Computed Torque Control of a Geared, DC Motor Driven Industrial Robot
Efficient control of robotic manipulators is an important industrial problem, and this paper proposes the use of artificial neural networks as a possible solution. The computed torque control scheme in particular is examined, and neural networks are used for the task of modelling the robotic manipulators. This scheme is applied to a two axis robot, whose feedback is corrupted by noise. The comp...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1994
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.60.1358