By Masatoshi Nakamura, Satoru Goto, Nobuhiro Kyura, Tao Zhang
This monograph provides the basics in addition to the appliance recommendations of servo regulate platforms, that are a key part of Mechatronics. the commercial functions and difficulties of Mechatronic Servo process regulate are proven in addition to its theoretical and acceptable strategies. The e-book is exclusive in its type in changing a information merely appropriate for particular events previously right into a extra common know-how. This introductory monograph is aiming at scholars and engineers who're excited about the sector of Mechatronics and Robotics.
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Additional resources for Mechatronic servo system control: problems in industries and their theoretical solutions
For proper servo parameters and servo parameters complete with errors, the simulation results based on the 4th order model of a mechatronic servo system are almost identical to the actual experimental results. Therefore, it verified that the 4th order model is the correct expression of the dynamic characteristic of an industrial mechatronic servo system. 2 Reduced Order Model of One Axis in a Mechatronic Servo System 29 adaptation of the 4th order model in the design of a servo controller is also shown.
The horizontal axis φ of Fig. 15 represents the movement angle of arm. From the angle standard φ = 0[rad] of angle stretching direction, φ = π[rad] denotes the arm shrinking direction. From Fig. 6[m]), the working linearized approximation error becomes large at the arm stretching action. In the movement at the pull-push direction and vertical direction, the working linearized approximation error becomes fairly small. 54) is dependent on time, the time shift with Kp = 15[1/s] of the time depending item λ(t), is illustrated in Fig.
The servo motor in the actuator performs the control on the robot arm in each independent axis. 3). dθ1 (t) = −Kp θ1 (t) + Kp u1 (t) dt dθ2 (t) = −Kp θ2 (t) + Kp u2 (t). 40) is called a joint linearized model. Here, u1 (t) and u2 (t) denotes the angle input of axis 1 and axis 2, respectively. 3. Fig. 12 illustrates the block diagram of the 1st order system. 40) in joint coordinates. For clarifying the expression of actual robot dynamics by the joint linearized model. The following discussion is carried out with this assumption.