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Pid Regulation Of Robot Manipulators With Elastic Joints
Author(s) -
AlvarezRamirez Jose,
Cervantes Ilse
Publication year - 2003
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2003.tb00095.x
Subject(s) - pid controller , control theory (sociology) , position (finance) , robot , stability (learning theory) , rotor (electric) , controller (irrigation) , action (physics) , computer science , control engineering , engineering , control (management) , artificial intelligence , physics , economics , mechanical engineering , temperature control , agronomy , finance , quantum mechanics , machine learning , biology
This paper studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD action on the rotor position and an integral control action on the link position suffice to provide semiglobal asymptotic stability of the desired link position.