Title :
On-line tuning of a multivariable PID-controller for robot manipulators
Author :
Koivo, H.N. ; Sorvari, J.
Author_Institution :
Tempere University of Technology, Tampere, Finland
Abstract :
A multivariable self-tuning PID (SPID) controller is introduced to robot manipulator control. The control structure is simple, eliminates interactions quite well, and is easy to implement.
Keywords :
Adaptive control; Control systems; Force control; Gravity; Manipulator dynamics; Robot control; Robot kinematics; Three-term control; Tuning; Velocity control;
Conference_Titel :
Decision and Control, 1985 24th IEEE Conference on
Conference_Location :
Fort Lauderdale, FL, USA
DOI :
10.1109/CDC.1985.268765
