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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