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Two-Degree-of-Freedom Simple Servo Adaptive Control for SCARA Robot
Taworn Benjanarasuth,Noppon Sowannee,Nirut Naksuk 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper presents an application of two-degree-of-freedom simple servo adaptive control scheme in controlling DDR-type two-links SCARA robot. The SCARA robot is widely used in industries and it is generally desired to control its movement along some periodic trajectory to perform some repeated tasks. A proper control scheme is therefore required. Among various control techniques, two-degree-of-freedom simple servo adaptive control scheme possesses a prominent aspect in that it can force the systems to follow the desired reference model while the servo gain can be freely assigned to tune the disturbance rejection property independently. The simulations in applying the two-degree-of-freedom simple servo adaptive control scheme to control the SCARA robot are demonstrated to verify the applicability and effectiveness of this control technique. The effect of tuning the servo gain is also observed.
Hybrid Controller for Swinging up and Stabilizing the Inverted Pendulum on Cart
Ekachai Asa,Taworn Benjanarasuth,Jongkol Ngamwiwit,Noriyuki Komine 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, a hybrid controller for swinging up and stabilizing an inverted pendulum on cart is presented. The energy control concept is employed to swing the inverted pendulum up to around the upright position within the assigned switching condition. After that, the stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by Coefficient Diagram Method. The simulation results show that the designed hybrid controller can be mutually operated with acceptable efficiency.
Tremor Suppression for Handheld Micromanipulator using Robust Hybrid Control
Sungwan Boksuwan,Taworn Benjanarasuth,Chisato Kanamori,Hisayuki Aoyama 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper proposes a suppression of tremor effects, fluctuations caused by a user’s hand, on a handheld micromanipulator by means of a robust hybrid control scheme. The proposed control scheme is a combination between an explicit model predictive control and a PID controller. The advantage of the PID controller is a robustness. It is suitable for handling the holding angle changes. The explicit model predictive control provides the excellent tracking performance. In addition, the robust hybrid control can handle tremor effects successfully. The control objective is to achieve robust tracking performance, to dampen the vibration of the mechanism and to suppress a disturbance, a tremor. The experimental results are used to investigate the effectiveness of the proposed method.