Robust PID control for robots manipulators with elastic joints

被引：6

作者：

Alavarez-Ramirez, J ^{[1
]}

Cervantes, I ^{[1
]}

Bautista, R ^{[1
]}

机构：

[1] Univ Autonoma Metropolitana Iztapalapa, CBI, Mexico City 09340, DF, Mexico

来源：

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01) | 2001年

关键词：

elastic joints robots; PID control;

D O I：

10.1109/CCA.2001.973923

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work 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.

引用

页码：542 / 547

页数：4

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