Ashraf Saad Awad E.

paper discusses experimental identification of one joint of a hand made, two degrees of freedom robot manipulator, including flexibilities, under feedback. A black box system model is identified from the input-output data. Both linear, OE (Output Error) and non-linear structure (multilayer perceptrons neural network) models are treated and applied.

The performance and design of a control system to drive a robotic arm is a multi tedious process task. Selecting the type of actuator and its control, the type of the power driver and the interface with Personal Computer (PC), the position sensory devices, the controller software language and algorithm are puzzling decisions to consider. It is an important process to choose one of all the available technologies, various alternatives, economic market and technical data package constraints.

This paper proposes design and implementation of a digital control system to drive a two-link robotic manipulator. Our process adopting a completely digital control system design, to avoid using an ordinary ADDA card. A permanent magnet DC servo drive with a gear set is chosen to be as an actuator driven by a high frequency Darlington transistor in an H-bridge configuration.

Comparisons between the responses of adaptive and PID controllers are made, in case of external disturbances, inertia matrix perturbation and payload changes. Decoupling and linearizing the interacting actuator-manipulator system achieve control of the complicated nonlinear nature of the robotic manipulator with the strongly cross-coupled actuator-manipulator system.

Two decoupled adaptive controllers, two decentralized adaptive PID-controllers, and three-term controller for n-degrees of freedom robotic manipulators are synthesized and implemented in this paper.

In order to obtain a realistic and reasonable results for simulation of a robot manipulator controller performance, a near real world dynamic model including disturbance, parameter perturbation, and payload variation is inevitably required.

In order to evaluate the performance of the robot manipulator and to compare their control adhesive algorithms, a real model, including disturbance, parameter perturbation, and motor dynamics is proposed in this paper.

This paper introduces the application of the optimal-preview control theory for the speed tracking of the Separately Excited Dc motor.

The discrete optimal control theory , in addition to the preview feedforward control, which depends on minimizing a selected performance index, are involved in the design of system controller to obtain the optimal control law.

This paper discuss a robust preview control system for speed tracking servo of a DC drive based on optimal performance.

A simple robust control system theory is synthesized for speed tracking servo control .