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VSS joint acceleration controller by disturbance estimator
Curk, Boris ; Jezernik, Karel ; Harnik, Jože
Predstavljen 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.
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