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controllers - (a “centralized” decentralized control...

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1 Block Diagram of System physical To controller Block Diagram of PID Industrial Controller Manipulator Block Diagram of Industrial Controller (needs no velocity measurement) Block Diagram of Industrial Controller (equivalent form)
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2 Decentralized Feedforward (using motor model) Plant Tm/Km decentralized controller 1/Km disturbance Computed Torque Feedforward (CTFF)
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Unformatted text preview: (a “centralized” decentralized control!) Plant/Manipulator decentralized controller disturbance Block Diagram of “Decentralized” Control Options Plant Centralized Feedforward (CTFF) decentralized controller Decentralized Feedforward disturbance Ideal Inverse Dynamic Control Manipulator...
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