Autors: Nikolova, N. G., Karlova-Sergieva, V. A.
Title: Cascade Control of PMDC Motor on FANUC M-430iA/4FH Robot
Keywords: Cascade control, Internal model robust control, Robust performance

Abstract: The introduction of robotic systems in the processing of complex parts relies on the fact that they are more cost-effective, offer greater flexibility, and have a large working space. However, their disadvantage lies in lower positioning accuracy and vibrations during part processing. The use of robust algorithms in robot control can improve its overall performance, with the use of a cascade control structure being recommended. This study examines the possibility of cascade robust control for the electric drive of the FANUC M-430iA/4FH robot. Classical and robust control algorithms have been synthesized.

References

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Issue

International Conference Automatics and Informatics, ICAI 2024 - Proceedings, pp. 240-244, 2024, Bulgaria, https://doi.org/10.1109/ICAI63388.2024.10851626

Вид: публикация в международен форум, публикация в реферирано издание, индексирана в Scopus