A Novel Pole-Placement Controller Design for a Robot
Authors
I.Hassanzadeh and S.Mobayen
Category
IT and Computing
Abstract
This research presents a pole-placement method for designing of a feedback controller for a robot. The idea of proposed method is derived from the fact that the internal signals of a feedback control system can be eliminated by executing row operations. The design method can be implemented easily and insightfully on Diophantine equations after choosing proper closed-loop poles. In this paper, a 5-bar-linkage manipulator is considered as a case study and the controller has been designed based on the governing Euler-Lagrange equations on the robot. The superior features of this method are its simplicity and flexibility to apply on various control systems.
