An adaptive PID learning controller which consists of an adaptive PID feedback control scheme and a feedforward input learning scheme is proposed for learning of periodic robot motion. In the learning controller, the adaptive PID feedback controller takes part in stabilizing the transient response o
Minimum delay PID control of interpolated joint trajectories of robot manipulators
โ Scribed by Zhang, H.; Trott, G.; Paul, R.P.
- Book ID
- 119776116
- Publisher
- IEEE
- Year
- 1990
- Tongue
- English
- Weight
- 625 KB
- Volume
- 37
- Category
- Article
- ISSN
- 1932-4529
No coin nor oath required. For personal study only.
๐ SIMILAR VOLUMES
We consider the problem of PID tracking control of robotics manipulators. Our objective is to prove that under classical PID control, semiglobal stability can be assured with arbitrary small output tracking error. This means that, for any given set of initial conditions Wx, there exist PID control g
A simple and effective method for trajectory tracking of robotic manipulator is proposed. The first step is to employ a neural network to learn the characteristics of the inverse dynamics of the robotic manipulator in an off-line manner. Then the neural network is placed in series with the robotic m