The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design of a User-Friendly Control System using Least Control Parameters

최소 제어 인자 도출을 통한 사용편의성 높은 제어시스템 설계

  • Heo, Youngjin (Mechanical Engineering, Seoul National University of Science and Technology) ;
  • Park, Daegil (Mechanical Engineering, Seoul National University of Science and Technology) ;
  • Kim, Jinhyun (Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
  • Received : 2014.01.19
  • Accepted : 2014.02.07
  • Published : 2014.02.28
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Abstract

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

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References

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