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Motion Control. Two-Link Planar Robot. Determine Kp and Kv and Tv. Two-Link Planar Robot. Independent Joint Control. Assuming that the actuator is a rotary dc motor. Position and Velocity Feedback. Position and Velocity Feedback. - PowerPoint PPT Presentation
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Motion Control
Two-Link Planar RobotTwo-Link Planar Robot
Determine Kp and Kv and Tv
Two-Link Planar RobotTwo-Link Planar Robot
Independent Joint ControlIndependent Joint Control
Assuming that the actuator is a rotary dc motor Assuming that the actuator is a rotary dc motor
Position and Velocity FeedbackPosition and Velocity Feedback
Position and Velocity FeedbackPosition and Velocity Feedback
Choose the zero of the controller to cancel Choose the zero of the controller to cancel
the real pole by settingthe real pole by setting
The closed loop transfer function
Position and Velocity FeedbackPosition and Velocity Feedback
Decentralized Forward CompensationDecentralized Forward Compensation
Why is this pole-zero cancellation scheme feasible?
Reduce tracking error but have no effect on disturba
nce rejection due to the open loop nature
Depend on exact matching of controller and compen
sation parameters with process param. etc.
Decentralized Forward CompensationDecentralized Forward Compensation
Block scheme of decentralized forward compensation
Computed Torque Feedforward ControlComputed Torque Feedforward Control
Computed Torque Feedforward ControlComputed Torque Feedforward Control
Operational Space ControlOperational Space Control
Difficult to measure operation space variables
Considerable computational requirements
Necessary for controlling interaction between
manipulator and environment (no exact reference input)
