Hostname: page-component-78c5997874-t5tsf Total loading time: 0 Render date: 2024-11-19T11:30:22.538Z Has data issue: false hasContentIssue false
  • English
  • Français

Simple two degree of freedom structures and their properties

Published online by Cambridge University Press:  24 February 2006

Rafael Osypiuk ,
Bernd Finkemeyer  and
Stanislaw Skoczowski
Rafael Osypiuk
Affiliation:
Institute of Control Engineering, Technical University of Szczecin, ul. 26 Kwietnia 10, 70-313 Szczecin (Poland).
Bernd Finkemeyer
Affiliation:
Institute for Robotics and Process Control, Technical University of Braunschweig, Mühlenpfordtstr. 23, 38106 Braunschweig (Germany). E-mail: b.finkemeyer@tu-bs.de
Stanislaw Skoczowski
Affiliation:
Institute of Control Engineering, Technical University of Szczecin, ul. 26 Kwietnia 10, 70-313 Szczecin (Poland).
Get access Rights & Permissions [Opens in a new window]

Abstract

A two-degree of freedom control system that is most frequently encountered in practice is the so-called Internal Model Control (IMC) structure. However, the design procedure of such a structure does not present an easy task, which implies a limited utility of IMC. In this paper two alternative solutions are proposed that may be lumped together as Model-Following Control (MFC). These are two-loop control systems being easy to implement and offering interesting properties. Theoretical assumptions have been verified experimentally on a two-joint robot manipulator. Both qualitative and quantitative results yielded by experiments are presented and discussed.

Keywords

IMC structureControl systemModel-following control
Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006 , pp. 365 - 372
Copyright
2006 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)