A systematic tunning method of PID controller for robot manipulators

Author

Li, Xiaoou ; Yu, Wen

Author_Institution

Dept. de Comput., CINVESTAVIPN, Mexico City, Mexico

fYear

2011

fDate

19-21 Dec. 2011

Firstpage

274

Lastpage

279

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (ICCA), 2011 9th IEEE International Conference on

Conference_Location

Santiago

ISSN

1948-3449

Print_ISBN

978-1-4577-1475-7

Type

conf

DOI

10.1109/ICCA.2011.6138081

Filename

6138081