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Параметричний синтез системи управління електроприводом маніпулятора з урахуванням невизначеності моменту інерції навантаження
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UDC: 681.511
Publication Language: Russian
Stuc. intelekt. 2008; 13(4):550-557
Abstract: In the paper the root locus approach is considered to calculating parameters of the industrial robot manipulator control loop in condition of substantial variation of the load inertia moment entering linearly the system characteristic equation coefficients. The task is solved by placement of the control system roots family within the given domain Q, which is named the quality domain. Finally, on the basis of the root locus fields application, the radius of the disc-shaped region of the uncertain parameter values is determined which guarantee the system Q-stability.
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