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This paper proposes a case study of the design of robust control for flexible axes. Robust parametric methods are worked out, and an heuristic initial tuning of the PID controller is proposed from additional pole-placement constraints on the rigid mode. Experimental validations highlight the relevance of adequate closed-loop control and trajectory planning design.
This paper deals with a model based real-time virtual simulator of industrial robot in order to detect eventual external collision. The implemented method concerns a model based Fault Detection and Isolation used to determine any lock of motion from an actuated robot joint after contact with static obstacles. Online implementation has been done in order to validate the proposed approach.
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