Abstract
The inaccuracy of position and velocity controllers due to the vibration in the two-mass system in industrial robots cause devastating problems in both safety and productivity. To solve this problem, a method for tuning a cascade controller applied to two-mass systems based on Iterative Feedback Tuning (IFT) is proposed. The proposed new iterative feedback tuning method utilized a modified cost function to optimize the gains in a cascade control system and to address the complexity of the two-mass system due to higher-order dynamics. The performance of the proposed iterative feedback tuning method is verified through several simulations.
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