Cascade control algorithm of the servormotor drive of robotic arm

Abstract

In this paper is synthesized the control algorithms in cascade control systems. The control object is the robotic arm which is actuated by a servo motor presented as a cascade control system which is consisting of two loops. The use of multiple loops is justified by the fact that with a single loop, only one parameter of the servo motor is controlled, which leads to a decrease in the reliability of the automatic system.