Limitations Caused by Sampling and Quantization in Position Control of a Single Axis Robot

Abstract

This paper presents the theoretical and experimental investigation of the dynamics of a single degree-of-freedom robotic arm subjected to digital position control. The experimental setup consists of an industrial robot axis, a microcontroller based low-level control unit, and a highlevel Matlab/Simulink position controller. The stable domain of operation is calculated in the parameter space of the sampling time and the gains of the applied proportional-derivative (PD) controller. The calculated stability charts are verified by experiments, and the paper reports the limitations on system
\nstability caused by the digital effects and the applied control setup.