Pregled bibliografske jedinice broj: 1045620
Variable-structure control of a five-axis robot
Variable-structure control of a five-axis robot // Selected Topics in Modelling and Control, Volume 4 / Mikleš, Ján ; Veselý, Vojtech (ur.).
Bratislava: Slovak University of Technology Press, 2004. str. 7-12
CROSBI ID: 1045620 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Variable-structure control of a five-axis robot
Autori
Krajči, Vesna ; Jurišica, Ladislav
Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni
Knjiga
Selected Topics in Modelling and Control, Volume 4
Urednik/ci
Mikleš, Ján ; Veselý, Vojtech
Izdavač
Slovak University of Technology Press
Grad
Bratislava
Godina
2004
Raspon stranica
7-12
ISBN
80-227-2094-1
Ključne riječi
robustness, variable-structure control, robot arm, simulation, energy
Sažetak
Robustness of modified variable-structure control methods is tested by computer simulations in the case of an educational five-axis articulated robot arm Rhino XR-3. Parameters of the modified variable-structure controllers are adjusted according to these principles: desired tracking error, no chattering and minimum of energy. Computer simulations performed with load change, added external disturbance and white measurement noise proved satisfying robustness and efficiencies in trajectory tracking and reducing of energy for all presented robot control methods.
Izvorni jezik
Engleski
Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti
