{"title":"生物驱动伺服机构控制器设计","authors":"S. Zein-Sabatto, M. Bodruzzman, M. Malkani","doi":"10.1109/SECON.1994.324328","DOIUrl":null,"url":null,"abstract":"A simple classical control system is designed for a human like (HL) robot joint. First, detailed development of the joint's dynamic model is presented, Then a classical design procedure is implemented for the design of a proportional controller. A numerical example is provided and simulation results are presented for illustration. The limitations of the designed controller are discussed and recommendations for advanced controller design are suggested.<<ETX>>","PeriodicalId":119615,"journal":{"name":"Proceedings of SOUTHEASTCON '94","volume":"101 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Biologically motivated servomechanism controller design\",\"authors\":\"S. Zein-Sabatto, M. Bodruzzman, M. Malkani\",\"doi\":\"10.1109/SECON.1994.324328\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A simple classical control system is designed for a human like (HL) robot joint. First, detailed development of the joint's dynamic model is presented, Then a classical design procedure is implemented for the design of a proportional controller. A numerical example is provided and simulation results are presented for illustration. The limitations of the designed controller are discussed and recommendations for advanced controller design are suggested.<<ETX>>\",\"PeriodicalId\":119615,\"journal\":{\"name\":\"Proceedings of SOUTHEASTCON '94\",\"volume\":\"101 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-04-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of SOUTHEASTCON '94\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SECON.1994.324328\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of SOUTHEASTCON '94","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SECON.1994.324328","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A simple classical control system is designed for a human like (HL) robot joint. First, detailed development of the joint's dynamic model is presented, Then a classical design procedure is implemented for the design of a proportional controller. A numerical example is provided and simulation results are presented for illustration. The limitations of the designed controller are discussed and recommendations for advanced controller design are suggested.<>
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