Decoupling robust control of three-link direct drive robot arm

Decoupling robust control of three-link direct drive robot arm

This paper introduces the mechanical structure of a three-link direct drive SCARA for wafer handling application. The dynamic modeling of the presented SCARA is derived and the coupling effect of the system is studied. A decoupling method based on computed torque control is employed in the implement...

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Main Authors: Zhang, C., Zhao, G., Xiao, Y., Yang, X.
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2013
Subjects:
DRNTU::Engineering::Electrical and electronic engineering
Online Access:https://hdl.handle.net/10356/84928
http://hdl.handle.net/10220/10729
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-849282020-03-07T13:57:21Z Decoupling robust control of three-link direct drive robot arm Zhang, C. Zhao, G. Xiao, Y. Yang, X. School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering This paper introduces the mechanical structure of a three-link direct drive SCARA for wafer handling application. The dynamic modeling of the presented SCARA is derived and the coupling effect of the system is studied. A decoupling method based on computed torque control is employed in the implementation. Robust control is applied to design the SISO controllers after the system is decoupled. The experimental test results demonstrate satisfying dynamic, settling and static performances by utilizing the decoupling robust control. 2013-06-26T07:55:45Z 2019-12-06T15:53:48Z 2013-06-26T07:55:45Z 2019-12-06T15:53:48Z 2012 2012 Journal Article Zhang, C., Zhao, G., Xiao, Y., & Yang, X. (2012). Decoupling Robust Control of Three-Link Direct Drive Robot Arm. Advanced Materials Research, 443-444, 258-266. 1662-8985 https://hdl.handle.net/10356/84928 http://hdl.handle.net/10220/10729 10.4028/www.scientific.net/AMR.443-444.258 en Advanced materials research © 2012 Trans Tech Publications, Switzerland.
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering
Zhang, C.
Zhao, G.
Xiao, Y.
Yang, X.
Decoupling robust control of three-link direct drive robot arm
description This paper introduces the mechanical structure of a three-link direct drive SCARA for wafer handling application. The dynamic modeling of the presented SCARA is derived and the coupling effect of the system is studied. A decoupling method based on computed torque control is employed in the implementation. Robust control is applied to design the SISO controllers after the system is decoupled. The experimental test results demonstrate satisfying dynamic, settling and static performances by utilizing the decoupling robust control.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Zhang, C.
Zhao, G.
Xiao, Y.
Yang, X.
format Article
author Zhang, C.
Zhao, G.
Xiao, Y.
Yang, X.
author_sort Zhang, C.
title Decoupling robust control of three-link direct drive robot arm
title_short Decoupling robust control of three-link direct drive robot arm
title_full Decoupling robust control of three-link direct drive robot arm
title_fullStr Decoupling robust control of three-link direct drive robot arm
title_full_unstemmed Decoupling robust control of three-link direct drive robot arm
title_sort decoupling robust control of three-link direct drive robot arm
publishDate 2013
url https://hdl.handle.net/10356/84928
http://hdl.handle.net/10220/10729
_version_ 1681046109210804224

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