dc.contributor.authorZhang, C.
dc.contributor.authorZhao, G.
dc.contributor.authorXiao, Y.
dc.contributor.authorYang, X.
dc.date.accessioned2013-06-26T07:55:45Z
dc.date.available2013-06-26T07:55:45Z
dc.date.copyright2012en_US
dc.date.issued2012
dc.identifier.citationZhang, 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.en_US
dc.identifier.issn1662-8985en_US
dc.identifier.urihttp://hdl.handle.net/10220/10729
dc.description.abstractThis 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.en_US
dc.language.isoenen_US
dc.relation.ispartofseriesAdvanced materials researchen_US
dc.rights© 2012 Trans Tech Publications, Switzerland.en_US
dc.subjectDRNTU::Engineering::Electrical and electronic engineering
dc.titleDecoupling robust control of three-link direct drive robot armen_US
dc.typeJournal Article
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.identifier.doihttp://dx.doi.org/10.4028/www.scientific.net/AMR.443-444.258


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