PID Anti-Vibration Control of a Robotic Arm

PID Anti-Vibration Control of a Robotic Arm

The proportional derivative (PD) control is the most employed method in the trajectory tracking of industrial robots. In the PD control, the stability is guaranteed when its gains are very large; however, the tracking error does not decrease to zero when the vibration effects are considered. In this...

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Veröffentlicht in:Revista IEEE América Latina 2016-07, Vol.14 (7), p.3144-3150
Hauptverfasser: Rubio, Jose de Jesus, Cruz, Panuncio, Paramo, Luis Alberto, Meda, Jesus Alberto, Mujica, Dante, Ortigoza, Ramon Silva
Format: Artikel
Sprache:eng
Schlagworte:
Asymptotic stability
Manipulators
PD control
PID control
Service robots
Vibration
Vibrations
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Zusammenfassung:The proportional derivative (PD) control is the most employed method in the trajectory tracking of industrial robots. In the PD control, the stability is guaranteed when its gains are very large; however, the tracking error does not decrease to zero when the vibration effects are considered. In this paper, a proportional integral derivative (PID) anti-vibration control is designed for decreasing the vibration effects in the displacements of a robotic manipulator. The semi-global asymptotic stability of the introduced strategy is assured.
ISSN:1548-0992
1548-0992
DOI:10.1109/TLA.2016.7587614