Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods

Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods

In this work, a position control in task space for slider-crank mechanisms is presented. In order to apply linear controllers it is required to linearize the mechanism dynamics at an equilibrium point. However, complete dynamic knowledge is needed and the linearization technique gives an oversimplif...

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Bibliographic Details
Main Authors: Adolfo Perrusquia, Juan Alejandro Flores-Campos, Christopher R. Torres-Sanmiguel, Noe Gonzalez
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Slider-crank mechanism
extended dynamic model
linear system
controllable
disturbance
pole placement
Online Access:https://ieeexplore.ieee.org/document/9037353/

Internet

https://ieeexplore.ieee.org/document/9037353/

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