Skip to Main Content
A new pole selection method for feedforward compensators of mechatronic servo systems is presented in this paper. It is necessary to have the system poles located at desirable positions on the s-plane in order to realize better servoing performance. However, selection of new poles is not a straightforward problem and in most industrial mechatronic systems, it has been a mere cut-and-dry procedure. In this research, feedforward compensator poles are related to the control input, and a criterion was developed to determine the desirable poles that improve the control input within its limits. This method was developed for the second-order model and it was simulated and experiments were performed with the Performer MK3s articulated industrial robot manipulator. Some attractive results have been obtained with the new method.
Date of Publication: Dec. 2003