Application of a self-tuning pole-placement regulator to an industrial manipulator

1982 ◽  
Author(s):  
R. Walters ◽  
M. Bayoumi
Keyword(s):  
Pole Placement ◽  
Industrial Manipulator ◽  
Self Tuning

scholarly journals Control of Pole-Climbing Robot Orientation using Self-Tuning Method

2018 ◽  
Vol 9 (3) ◽  
pp. 1029
Author(s):  
Muhammad Aziz Muslim ◽  
Goegoes Dwi Nusantoro ◽  
Rini Nur Hasanah ◽  
Mokhammad Hasyim Asy’ari
Keyword(s):  
Pole Placement ◽  
Original Position ◽  
Main Task ◽  
Climbing Robot ◽  
Positive Direction ◽  
Rotary Encoder ◽  
Tuning Method ◽  
Placement Method ◽  
Angle Change ◽  
Self Tuning

This paper describes the method to control a hybrid robot whose main task is to climb a pole to place an object on the top of the pole. The hybrid pole-climbing robot considered in this paper uses 2 Planetary PG36 DC-motors as actuators and an external rotary encoder sensor to provide a feedback on the change in robot orientation during the climbing movement. The orientation control of the pole-climbing robot using self-tuning method has been realized by identifying the transfer function of the actuator system under consideration, being followed with the calculation of control parameters using the self-tuning pole-placement method, and furthermore being implemented on the external rotary encoder sensor. Self-tuning pole-placement method has been explored to control the parameters q<sub>0</sub>, q<sub>1</sub>, q<sub>2</sub>, and p<sub>1</sub> of the controller. The experiments were done on a movement path in a form of a cylindrical pole. The first experiment was done based one the change in rotation angle of the rotary sensor with the angle values greater than 50˚ in the positive direction, whereas the second experiment was done with the angle values greater than -50˚ in the negative direction. The experiment results show that the control of the robot under consideration could maintain its original position at the time of angle change disturbance and that the robot could climb in a straight direction within the specified tolerance of orientation angle change.

Pole Placement Self-Tuning Control of Manipulators

1983 ◽  
Vol 16 (19) ◽  
pp. 27-33
Author(s):  
G.G. Leininger ◽  
S.P. Wang
Keyword(s):  
Pole Placement ◽  
Self Tuning

Self-tuning multivariable pole placement control of a multizone crystal growth furnace

1992 ◽  
Vol 6 (2) ◽  
pp. 127-138 ◽  
Author(s):  
C. Batur ◽  
R. B. Sharpless ◽  
W. M. B. Duval ◽  
B. N. Rosenthal
Keyword(s):  
Crystal Growth ◽  
Pole Placement ◽  
Self Tuning ◽  
Pole Placement Control

Joint Self-Tuning With Cartesian Setpoints

1986 ◽  
Vol 108 (2) ◽  
pp. 146-150 ◽  
Author(s):  
P. G. Backes ◽  
G. G. Leininger ◽  
Chun-Hsien Chung
Keyword(s):  
Real Time ◽  
Control Method ◽  
Hybrid Control ◽  
Pole Placement ◽  
Real Time Control ◽  
Time Control ◽  
Self Tuning ◽  
Cause Of Error ◽  
Time Position ◽  
Manipulator Control

A joint coordinate self-tuning manipulator control method is presented which uses Cartesian setpoints. The method is capable of both position and hybrid control. Position and force errors are transformed from Cartesian coordinates to position and force errors at the joints. The position and force errors at each joint are combined into one hybrid error that is eliminated using pole-placement self-tuning. Real time position and hybrid control results are given. No prior knowledge of manipulator or load dynamics is required and real time control results show that the goal of consistent control with changing load dynamics is achieved. The major cause of error in position and hybrid control is the large friction effects in the joints.

A dual-rate self-tuning pole-placement controller

1993 ◽  
Vol 40 (1) ◽  
pp. 116-129 ◽  
Author(s):  
C.C. Hang ◽  
Y.S. Cai ◽  
K.W. Lim
Keyword(s):  
Pole Placement ◽  
Self Tuning ◽  
Pole Placement Controller
Sign in / Sign up

Export Citation Format

Share Document