Two layers position control system of a manipulator using feed forward control

In this paper, the authors propose a two layers position control system: the inner layer is a ready made sensorless vector controlled inverter; and the second layer is an external position controller which is realized either using analog or digital circuits through a microcomputer control system. The velocity feed forward path and a PI controller instead of P controller which acts on the tracking error of the position trajectory are used by the control algorithm. The actual position trajectory is sensed using an optical digital encoder. This system is reliable and not costly for using in upgrading the convential system. The minimum energy consumption speed trajectory and the corresponding position trajectory are followed. Experimental results are presented.