Parametric Synthesis of Automatic Control System of Industrial Robot Manipulator in Compliance with Requirements of Robust Quality

Abstract

The paper considers an application of a root-locus method for synthesis of dynamic systems with uncertainty that meet the requirements of pre-set quality. This method is used for parametric synthesis of automatic control system of industrial robot manipulator that is used for transportation of engineering products. The synthesis takes place under conditions of substantial changes in inertia moment of robot load. As a result of investigations it is possible to determine range of values of variable parameter that ensures the required quality of control system operation. A system of computer programs has been developed in order to solve the problem.