About this document
Lag-Lead Compensator for Robot Control by fullstop1027_4915190 is a document available to read on EtoBox.
The document describes a study that implemented a Lag-lead compensator for robots to improve on the conventional PD (or PID) controller. It derived a discrete time system model for a robot that includes a computational delay and zero-order holder. Frequency response analysis showed the PD controller leads to trade-offs between static accuracy, stability, and disturbance rejection that worsen with lower sampling rates. The study designed a Lag-lead compensator using frequency response techniques and implemen
- Author
- fullstop1027_4915190
- Language
- EN