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module_7 (1)

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unknown28rider
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Robotics: Kinematics, Dynamics

and Motion Control


Module -7
Motion Control Systems
Basic components & terminology of Robot
control system
Introduction :
• The control system is used to control the behavior of system, machine etc
• Control system is broadly classified into two types
• Open loop control system – Lack of feedback mechanism not aware about
the output
• Closed loop control system – Feedback system is included (Feedback signal
is subtracted from input reference signal, resulting in an error signal).This
error signal is taken as driving signal.
Basic components of control system
Control system for Robots
• In robotics applications control system are implemented to monitor
and control the movement of manipulator arm.
• The manipulator joints to follow prescribed position trajectories, but
the actuators are commanded in terms of torque, it is required to use
some kind of control system to compute appropriate actuator
commands that will realize this desired motion.
• Almost always, these torques are determined by using feedback from
the joint sensors to compute the torque required
System Dynamics
• System dynamics is the concept of mathematical modelling
technique to understand and solve the complex problem.
• A system’s dynamics are generally represented by differential
equations and must be known before a control scheme can be
designed for the system
• System dynamics is the relationship between input function and
other related factors
• Example:
A plant’s behavior is a function of its physical characteristics and
external influences and how they are related to each other – iron
heating applications
System Dynamics Analogy representation
Laplace Transform
• The differential equations describing the behavior of a system may
not always be easy to analyze

• Transforming a differential equation f(t) in the time domain into F(s)


in the Laplace domain allows us to analyze the equation algebraically
Basic Equations for Laplace transform
Inverse Laplace Transform
• The inverse Laplace transform refers to the process of inverting an
equation from the Laplace domain to the time domain
Transfer Functions
• A transfer function is the equation that represents the ratio of output
to input in a system. It may be written across a block or across a
complete system
• In this system, R(s), Y(s), G(s), and H(s) represent the input, output,
system dynamics plus any controller, and feedback multiplier
Transfer Functions
Transfer functions are further divided into
• Open-loop transfer function - The ratio of the feedback signal to the
actuating error signal while the feedback loop is open, although the
sensor still reads the output. Here, the sensor is used to read the
output and report it as the feedback signal
• Feed-forward transfer function - The ratio of the output to the
actuating error signal. If the feedback function is unity, the open-loop
and feed-forward transfer functions are the same
• Closed-loop transfer function - The ratio of output to input for the
system. Transfer function represents the system with feedback
control.
Characteristics of First-Order Transfer Functions
Characteristics of First-Order Transfer Functions
Characteristics of First-Order Transfer Functions
Characteristics of Second-Order Transfer Functions
Characteristics of Second-Order Transfer Functions
Characteristics of Second-Order Transfer Functions
Characteristics of Second-Order Transfer Functions
Proportional and proportional plus controllers
• Proportional Controllers
Proportional controllers are simple and very common. Proportional
controller gives the output in proportion to the difference between set point
and current output variable.
• Proportional-Plus-Integral Controllers
Integral controllers provide a means for eliminating steady-state error in a
system. This is because an integrator adds an additional parameter to the
denominator of the transfer function.A proportional-plus-integral (PI)
controller is given with the gains KP and KI.
Proportional-Plus-Derivative Controllers
Proportional-Integral-Derivative Controller
(PID)
State-Space Control Methodology
• State-space model representation is carried out using different signals
within the system may be linked together in order to create a set of
first-order linear equations that are easy to solve and provide
information about internal signals

• State space model provides complete idea about the behavior of


system.
Digital control and non-linear control systems
• Digital Control

Digital control is used in systems where microprocessors are used


for controlling the system and in which signals are sampled

Many of the techniques used in analog control are also used in digital
control systems, including the root locus; lead-lag; proportional,
integral, and derivative control; Bode diagrams
Nonlinear Control Systems
• A system is considered linear if the differential equation describing it
is linear and if the components of the system behave in a linear
fashion. This means that if a system responds with outputs y1(t) and
y2(t) for inputs x1(t) and x2(t), respectively, its response to an input a1x1
t + a2x2 t will be a1y1t + a2y2t . Otherwise, the system is nonlinear.

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