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Limitations Caused by Sampling and Quantization in Position Control of a Single Axis Robot

Budai, Csaba and Kovács, László L. (2013) Limitations Caused by Sampling and Quantization in Position Control of a Single Axis Robot. In: XV International PhD Workshop, 19–22 October 2013, Wisla. Poland.

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Abstract

This paper presents the theoretical and experimental investigation of the dynamics of a single degree-of-freedom robotic arm subjected to digital position control. The experimental setup consists of an industrial robot axis, a microcontroller based low-level control unit, and a highlevel Matlab/Simulink position controller. The stable domain of operation is calculated in the parameter space of the sampling time and the gains of the applied proportional-derivative (PD) controller. The calculated stability charts are verified by experiments, and the paper reports the limitations on system stability caused by the digital effects and the applied control setup.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok
Depositing User: Csaba Budai
Date Deposited: 11 Apr 2023 08:36
Last Modified: 11 Apr 2023 08:36
URI: http://real.mtak.hu/id/eprint/163625

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