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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).
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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

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