Title :
PD control with computed feedforward of robot manipulators: a design procedure
Author :
Kelly, Rafael ; Salgado, Ricardo
Author_Institution :
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
fDate :
8/1/1994 12:00:00 AM
Abstract :
In the present paper, we propose an explicit design procedure for selecting the proportional and derivative gains of the PD control with computed feedforward of robot manipulators. The proposed procedure, which is easily obtained from the robot dynamics and desired trajectory, assures that the closed-loop system has an unique equilibrium point. In addition, this equilibrium turns out to be (locally) exponentially stable. Simulation tests are included, with reference to a robot having two degrees of freedom
Keywords :
closed loop systems; control system synthesis; robots; two-term control; PD control; closed loop system; derivative gain; design; dynamics; equilibrium point; feedforward control; manipulators; proportional gain; robot; Acceleration; Actuators; Automatic control; Manipulator dynamics; Motion control; Optimal control; Orbital robotics; PD control; Robot control; Robotics and automation;
Journal_Title :
Robotics and Automation, IEEE Transactions on
