Authors: Sedat BAYSEÇ, Halit Murat GÜLTEKİN
Abstract: This article presents a case study at which classical control techniques are implemented digitally and applied for the curve following task of a hydraulically actuated robot manipulator. To improve positional accuracy, a gain varying in inverse proportionality with the position error is proposed. To overcome steady state error and make up for time lag, an integral component summing up the cube of position error and discharging at zero position error points is proposed and tested. Finally a map of positional errors is generated and command signals are accordingly modified to compensate all steady errors.
Keywords: Hydraulic Systems, Robots, Digital Control, Classical Control