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
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;
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
DOI :
10.1109/CCA.2001.973923
