DocumentCode
2062995
Title
Robust PID control for robots manipulators with elastic joints
Author
Alavarez-ramirez, Jose ; Cervantes, Ilse ; Bautista, Ricardo
Author_Institution
CBI, Univ. Autonoma Metropolitana Iztapalapa, Mexico City, Mexico
fYear
2001
fDate
2001
Firstpage
542
Lastpage
547
Abstract
This paper studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD control action on the rotor position and an I action on the link position suffices to provide semiglobal asymptotic stability of the desired link position
Keywords
asymptotic stability; manipulator dynamics; robust control; three-term control; PD control action; PID controller; elastic joints; robots manipulators; robust PID control; rotor position; semiglobal asymptotic stability; stability; Control systems; Gravity; Manipulators; PD control; Robot control; Robot kinematics; Robust control; Service robots; Stability; Three-term control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location
Mexico City
Print_ISBN
0-7803-6733-2
Type
conf
DOI
10.1109/CCA.2001.973923
Filename
973923
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