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Proceedings Paper

Position control of an industrial robot using fractional order controller
Author(s): Iulia Clitan; Vlad Muresan; Mihail Abrudean; Andrei Clitan; Radu Miron
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Paper Abstract

This paper presents the design of a control structure that ensures no overshoot for the movement of an industrial robot, used for the evacuation of round steel blocks from inside a rotary hearth furnace. First, a mathematical model for the positioning system is derived from a set of experimental data, and further, the paper focuses on obtaining a PID type controller, using the relay method as tuning method in order to obtain a stable closed loop system. The controller parameters are further tuned in order to achieve the imposed set of performances for the positioning of the industrial robot through computer simulation, using trial and error method. Further, a fractional – order PID controller is obtained in order to improve the control signal variation, so as to fit within the range of unified current’s variation, 4 to 20 mA.

Paper Details

Date Published: 8 February 2017
PDF: 8 pages
Proc. SPIE 10253, 2016 International Conference on Robotics and Machine Vision, 102530E (8 February 2017); doi: 10.1117/12.2266468
Show Author Affiliations
Iulia Clitan, Technical Univ. of Cluj Napoca (Romania)
Vlad Muresan, Technical Univ. of Cluj Napoca (Romania)
Mihail Abrudean, Technical Univ. of Cluj Napoca (Romania)
Andrei Clitan, Technical Univ. of Cluj Napoca (Romania)
Radu Miron, Technical Univ. of Cluj Napoca (Romania)


Published in SPIE Proceedings Vol. 10253:
2016 International Conference on Robotics and Machine Vision
Alexander V. Bernstein; Adrian Olaru; Jianhong Zhou, Editor(s)

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