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Case study on non-ideal current tracking in amplifiers for voltage-driven manipulators
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. Ålö AB. (Control systems group)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Control systems group)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Control systems group)
2014 (English)In: The 14th Mechatronics Forum International Conference Karlstad, Sweden. June 16-18, 2014, 2014Conference paper (Refereed)
Abstract [en]

We consider here a practical issue of using power amplifiers in torque-control mode for robotics applications. Specifically, we bring up the problem that may be caused by internal high-gain current control loops combined with limitations due to impossibility to provide an infinite voltage supply. The issue can be observed on a simple example of a tracking failure on a single link manipulator with a major gravity disturbance. The armature current does not track a reference within an admissible working region due to a voltage saturation in an amplifier: Such a behavior can be reproduced and predicted by our model, which can be used for a more intelligent motion planning and more precise motion control.

Place, publisher, year, edition, pages
2014.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-113697OAI: oai:DiVA.org:umu-113697DiVA: diva2:889201
Conference
Mechatronics 2014
Available from: 2015-12-22 Created: 2015-12-22 Last updated: 2015-12-22

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