Position and Speed Control of 2 DOF Industrial Robotic Arm using Robust Controllers

In this paper, a 2 DOF industrial robotic arm is designed and simulated for elbow and wrist angle and velocity performance improvement using robust control method. Mixed H2/H infinity synthesis with regional pole placement and H2 optimal controllers are used to improve the system output. The open loop response of the robot arm shows that the elbow and wrist angles and velocities need some improvement. Comparison of the proposed controllers for an impulse and step input signals have been done and a promising results have been obtained.

Content

Author and article information

Journal

Title: ScienceOpen Preprints

Publisher: ScienceOpen

Publication date (Electronic preprint): 15 September 2020

Affiliations

[1 ] School of Electrical and Computer Engineering

Article

DOI: 10.14293/S2199-1006.1.SOR-.PP5YULV.v1

SO-VID: dd6a119d-13a2-4b16-bfca-1e778b8c1e0f

License:

This work has been published open access under Creative Commons Attribution License CC BY 4.0 , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Conditions, terms of use and publishing policy can be found at www.scienceopen.com .

History

Date received : 15 September 2020

Data availability: All data generated or analysed during this study are included in this published article (and its supplementary information files).

ScienceOpen disciplines: Engineering

Keywords: Industrial robotic arm, Mixed H2/H infinity synthesis with regional pole placement controller, H2 optimal controller