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VSS joint acceleration controller by disturbance estimatorCurk, Boris ; Jezernik, Karel ; Harnik, JožePredstavljen je pristop k sintezi avtomatskega vodenja robotskih sistemov z električnimi motorji. Pristop temelji na uporabi teoriji sistemov s spremenljivo strukturo in zagotavlja robustno in ... natančno sledenje podanim trajektorijam. Uporabljeni so decentralni pospeškovni regulatorji za generiranje lokalnih preklopnih funkcij. Predlagan je PI estimator motenj, ki odpravlja stacionarno napako in omogoči posameznim sklepom sledenje pospeškovnim referenčnim signalom. Neobčutljivost na variacije parametrov in zunanje motnje predlagane metode avtomatskega vodenja je prikazana na primeru modela SCARA robota.Source: Elektrotehniški vestnik. - ISSN 0013-5852 (60, 2/3, 1993, str. 124-128)Type of material - article, component partPublish date - 1993Language - englishCOBISS.SI-ID - 5095684
Author
Curk, Boris |
Jezernik, Karel |
Harnik, Jože
Topics
avtomatska regulacija |
robotika |
vodenje robotov |
sinteza |
sistemi s spremenljivo strukturo |
drsni režim |
sledenje |
izmenični servomotor |
automatic control |
robotics |
robot control |
syntehsis |
variable structure system |
sliding mode |
tracking |
AC servo drive
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Database name | Field | Year |
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Curk, Boris | 06090 |
Jezernik, Karel | 03018 |
Harnik, Jože | 17150 |
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