Authors : Mustefa Jibril, Messay Tadese and Reta Degefa
Abstract: In this study, a 2 DOF industrial robotic arm is designed and simulated for elbow and wrist angle and velocity performance improvement using robust control method. Mixed H2/H∞ synthesis with regional pole placement and H2 optimal controllers are used to improve the system output. The open loop response of the robot arm shows that the elbow and wrist angles and velocities need some improvement. Comparison of the proposed controllers for an impulse and step input signals have been done and a promising results have been obtained.
Mustefa Jibril, Messay Tadese and Reta Degefa, 2020. Position and Speed Control of 2DOF Industrial Robotic Arm using Robust Controllers. Journal of Engineering and Applied Sciences, 15: 3765-3769.