Position control of an industrial robot using fractional order controller

Iulia Clitan; Vlad Muresan; Mihail Abrudean; Andrei Clitan; Radu Miron

doi:10.1117/12.2266468

8 February 2017 Position control of an industrial robot using fractional order controller

Iulia Clitan, Vlad Muresan, Mihail Abrudean, Andrei Clitan, Radu Miron

Proceedings Volume 10253, 2016 International Conference on Robotics and Machine Vision; 102530E (2017) https://doi.org/10.1117/12.2266468
Event: 2016 International Conference on Robotics and Machine Vision, 2016, Moscow, Russia

Abstract

This paper presents the design of a control structure that ensures no overshoot for the movement of an industrial robot, used for the evacuation of round steel blocks from inside a rotary hearth furnace. First, a mathematical model for the positioning system is derived from a set of experimental data, and further, the paper focuses on obtaining a PID type controller, using the relay method as tuning method in order to obtain a stable closed loop system. The controller parameters are further tuned in order to achieve the imposed set of performances for the positioning of the industrial robot through computer simulation, using trial and error method. Further, a fractional – order PID controller is obtained in order to improve the control signal variation, so as to fit within the range of unified current’s variation, 4 to 20 mA.

Citation Download Citation

Iulia Clitan, Vlad Muresan, Mihail Abrudean, Andrei Clitan, and Radu Miron "Position control of an industrial robot using fractional order controller", Proc. SPIE 10253, 2016 International Conference on Robotics and Machine Vision, 102530E (8 February 2017); https://doi.org/10.1117/12.2266468

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