dc.creator | Mandić, Petar | |
dc.creator | Lazarević, Mihailo | |
dc.creator | Šekara, Tomislav | |
dc.creator | Bošković, Marko | |
dc.creator | Maione, Guido | |
dc.date.accessioned | 2023-01-31T07:05:39Z | |
dc.date.available | 2023-01-31T07:05:39Z | |
dc.date.issued | 2019 | |
dc.identifier.isbn | 978-86-909973-7-4 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4103 | |
dc.description.abstract | In this paper a fractional order lag compensator is introduced for the control of robot
manipulators. Mathematical model of the robotic system is derived using the Rodriquez approach
which, due to a high gear ratio between the actuators and robot joints, reduces to a linear model.
Then, fractional order compensator is designed according to the symmetrical optimum principle.
Optimal values of controller parameters give good performance characteristics and high
robustness of the system, together with an iso-damping property of the closed loop reference
response. The effectiveness of the proposed method is illustrated through the control simulation
of three degrees of freedom robot manipulator. | sr |
dc.language.iso | en | sr |
dc.publisher | Beograd : Srpsko društvo za mehaniku | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33020/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33047/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/share-your-work/public-domain/cc0/ | |
dc.source | Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c | sr |
dc.subject | robust control | sr |
dc.subject | robot manipulator | sr |
dc.subject | fractional-order lead/lag compensator | sr |
dc.subject | symmetrical optimum | sr |
dc.subject | iso-damping property | sr |
dc.title | Robust control of a robot manipulators using fractional order lag compensator | sr |
dc.type | conferenceObject | sr |
dc.rights.license | BY-NC-ND | sr |
dc.citation.rank | M33 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/9598/C1c____Mandic__GUIDO_2019..pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4103 | |
dc.type.version | publishedVersion | sr |