Design the Adaptive Controller for Delta Robots with the Decoupling-Current Servo Motor

Wei-Sheng Huang*, Pau-Lo Hsu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

Abstract

To pursue high-speed motion control for robots, applications of servo motors with appropriate controllers may render fast responses with satisfactory precision. However, the current coupling effect on the servo motor control unavoidably downgrades stability and contouring precision as the operation speed increases in practice. This paper proposes a control structure simply by adding a decoupling gain Kc to significantly improve stability of motor control systems under high-speed operations. Simulation results on the joints of a Delta robot indicate that the present decoupling control structure effectively leads to satisfactory performance and precision under high-speed operations.
Original languageEnglish
Title of host publicationINTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
EditorsD Zhou, R Dillmann, X Zhu, N Kubota, H Liu
Pages197-208
Volume9245
DOIs
StatePublished - 2015
Event8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom
Duration: 24 Aug 201527 Aug 2015

Publication series

NameLecture Notes in Artificial Intelligence
PublisherIEEE
Volume9245
ISSN (Print)0302-9743

Conference

Conference8th International Conference on Intelligent Robotics and Applications, ICIRA 2015
CountryUnited Kingdom
CityPortsmouth
Period24/08/1527/08/15

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