Please use this identifier to cite or link to this item:
Title: Decoupling robust control of three-link direct drive robot arm
Authors: Zhang, C.
Zhao, G.
Xiao, Y.
Yang, X.
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2012
Source: 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.
Series/Report no.: Advanced materials research
Abstract: 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.
ISSN: 1662-8985
DOI: 10.4028/
Rights: © 2012 Trans Tech Publications, Switzerland.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Journal Articles

Google ScholarTM




Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.