The Control of an Industrial Manipulator's Positioning System Using Dahlin Algorithm. (2015)

• Record Type: Journal Article
• Authors: Clitan, Iulia; Abrudean, Mihail; Muresan, Vlad
• Is Part Of: Procedia technology. Volume 19(2015)
• Page Start: 541
• Page End: 546
• Publication Date: 2015
• Subjects: Digital controller -- industrial manipulator -- Dahlin algorithm -- positioning system ;; Technology -- Congresses; Technology -- Periodicals; Engineering -- Congresses; Engineering -- Periodicals; Engineering; Technology; Conference proceedings; Periodicals; 605
• DOI: 10.1016/j.protcy.2015.02.077
• Languages: English
• ISSNs: 2212-0173

Abstract

Abstract: This paper presents the design of a digital controller for the horizontal positioning movement of an industrial manipulator. The manipulator represents an hydraulically driven unloading machine that extracts the billets from a rotary hearth furnace. The positioning movement is approximated by a second-order process with time delay. The Dahlin algorithm is applied since it generates acceptable results in terms of performances. The algorithm specifies that the closed-loop performance of the process behave similarly to a continuous first-order process with time delay. The time constant of the closed-loop system serves as a tuning parameter for the control algorithm and different controllers are derived. The obtained controllers are compared via simulation based on the basis of overall performances and ringing behavior.