Active force control applied to a rigid robot arm
The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering
1996
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| Subjects: | |
| Online Access: | http://eprints.utm.my/8345/ http://eprints.utm.my/8345/1/MusaMailah1996_ActiveForceControlApplied.pdf |
| Summary: | The paper presents the implementation of Active Force Control (AFC) strategy to control a rigid robot arm. The robustness and effectiveness of AFC as 'disturbance rejector' is demonstrated through a simulation study using MATLAB(R) and SIMULINK(r)* softare packages. The work is carried out on a rigid two link disturbances. The results are directly compared to an equivalent system which employs the conventional model-based Proportional-Derivative (PD) control method. |
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