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Control, Models and...
Control, Models and Industrial Manipulators
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- Hedberg, Erik, 1986- (författare)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Löfberg, Johan, Senior Lecturer, 1974- (preses)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Norrlöf, Mikael, Adjunkt professor, 1971- (preses)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Robertsson, Anders, Professor (opponent)
- Institutionen för reglerteknik, Lunds universitet, Lund, Sverige
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(creator_code:org_t)
- ISBN 9789179297404
- Linköping : Linköping University Electronic Press, 2020
- Engelska 64 s.
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Serie: Linköping Studies in Science and Technology. Licentiate Thesis, 0280-7971 ; 1894
- Relaterad länk:
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Abstract
Ämnesord
Stäng
- The two topics at the heart of this thesis are how to improve control of industrial manipulators and how to reason about the role of models in automatic control.On industrial manipulators, two case studies are presented. The first investigates estimation with inertial sensors, and the second compares control by feedback linearization to control based on gain-scheduling.The contributions on the second topic illustrate the close connection between control and estimation in different ways. A conceptual model of control is introduced, which can be used to emphasize the role of models as well as the human aspect of control engineering. Some observations are made regarding block-diagram reformulations that illustrate the relation between models, control and inversion. Finally, a suggestion for how the internal model principle, internal model control, disturbance observers and Youla-Kucera parametrization can be introduced in a unified way is presented.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
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