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Simulation of robot control with voltage and current limitations
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| Author(s) |
P.Ph. Robet; M.Gautier |
| Abstract |
In this paper we design a simplified model for
electric drive chain of high speed machines such
as robots which takes into account both current
and voltage saturation. The simplified model
simulation time is divided by ten or more
compared with the full model simulation time. It
remains close to the usual static gain model
simulation time while keeping the tracking error
trajectory close to the real tracking error. |
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| Filename: | EPE2001 - PP00703 - Robet.pdf |
| Filesize: | 305.3 KB |
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| Type |
Members Only |
| Date |
Last modified 2004-03-09 by System |
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