Simple two degree of freedom structures and their properties

Authors:
Rafael Osypiuk;Bernd Finkemeyer;Stanislaw Skoczowski
Affiliations:
Institute of Control Engineering, Technical University of Szczecin, ul. 26 Kwietnia 10, 70-313 Szczecin (Poland).;Institute for Robotics and Process Control, Technical University of Braunschweig, Mühlenpfordtstr. 23, 38106 Braunschweig (Germany). E-mail: b.finkemeyer@tu-bs.de;Institute of Control Engineering, Technical University of Szczecin, ul. 26 Kwietnia 10, 70-313 Szczecin (Poland).
Venue:
Robotica
Year:
2006

Citing 4
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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.