Paper Title:
Decoupling Robust Control of Three-Link Direct Drive Robot Arm
  Abstract

This paper introduces the mechanical structure of a three-link direct drive SCARA for wafer handling application. The dynamic modeling of the presented SCARA is derived and the coupling effect of the system is studied. A decoupling method based on computed torque control is employed in the implementation. Robust control is applied to design the SISO controllers after the system is decoupled. The experimental test results demonstrate satisfying dynamic, settling and static performances by utilizing the decoupling robust control.

  Info
Periodical
Advanced Materials Research (Volumes 443-444)
Chapter
Chapter 1: Advances in Manufacturing Engineering Techniques and Materials Science
Edited by
Li Jian
Pages
258-266
DOI
10.4028/www.scientific.net/AMR.443-444.258
Citation
C. Zhang, G. Zhao, Y. Xiao, X. Yang, "Decoupling Robust Control of Three-Link Direct Drive Robot Arm", Advanced Materials Research, Vols. 443-444, pp. 258-266, 2012
Online since
January 2012
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Price
$32.00
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