• DocumentCode
    3733420
  • Title

    Variable Control Gains for P-D Controller for Robot Manipulators

  • Author

    Oscar Ramos Arroyo; Cort?s;Mar?a Aurora Diozcora Vargas Trevi?o;Sergio Vergara Limon

  • Author_Institution
    Fac. de Cienc. de la Electron., Maestria en Cienc. de la Electron. opcion Automatizacion., Benemerita Univ. Autonoma de Puebla, Mexico
  • fYear
    2015
  • Firstpage
    187
  • Lastpage
    192
  • Abstract
    In this work we present the problem of tuning gains for type P-D controller with gravity compensation on a robot of three degrees of freedom. A function for the proportional and derivative gains modifies the amplitude to be adjusted depending on the value of the variables on which it depends. We present the demonstration of stability for the controller. Experimental results of the proposed controller are presented, and a comparison between the data and the data obtained in a previous study was presented.
  • Keywords
    "Torque","Mathematical model","Gain","Servomotors","Robot kinematics","Gravity"
  • Publisher
    ieee
  • Conference_Titel
    Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2015 International Conference on
  • Print_ISBN
    978-1-4673-8328-8
  • Type

    conf

  • DOI
    10.1109/ICMEAE.2015.28
  • Filename
    7386217
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3733420