Title :
A systematic tunning method of PID controller for robot manipulators
Author :
Li, Xiaoou ; Yu, Wen
Author_Institution :
Dept. de Comput., CINVESTAVIPN, Mexico City, Mexico
Abstract :
This paper addresses the iterative tuning method of PID control for the robot manipulator based on the responses of the closed loop system. Several properties of the robot control are used, such as any PD control can stabilize a robot in regulation case, the colsed-loop system of PID control can be approximated by a linear system, and the control torque to the robot manipulator is linearly independent of the robot dynamic. By using these properties, a novel systematic turning method for the PID control is proposed. Simulations and experimental results of an upper limb exoskeleton give validation of this PID tuning method.
Keywords :
closed loop systems; iterative methods; legged locomotion; linear systems; manipulators; regulation; stability; three-term control; torque control; PID controller; PID tuning method; closed loop system response; control torque; iterative tuning method; linear system; regulation case; robot manipulator; systematic tuning method; upper limb exoskeleton; Closed loop systems; Exoskeletons; Joints; Linear systems; PD control; Robots; Tuning;
Conference_Titel :
Control and Automation (ICCA), 2011 9th IEEE International Conference on
Conference_Location :
Santiago
Print_ISBN :
978-1-4577-1475-7
DOI :
10.1109/ICCA.2011.6138081
