𝔖 Bobbio Scriptorium
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PID regulation of robot manipulators: stability and performance

✍ Scribed by Jose Alvarez-Ramirez; Ilse Cervantes; Rafael Kelly

Book ID
104300269
Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
252 KB
Volume
41
Category
Article
ISSN
0167-6911

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✦ Synopsis

Position control of robot manipulators using a novel PID control conΓΏguration derived from modeling error compensation ideas is introduced. The PID control law stability depends only on the inertial parameters of the robot. A simple proof of semiglobal PID stabilization of robot manipulators is provided. It is shown that the performance of the inverse dynamics control can be recovered by the PID control in the high-gain limit. Simple tuning guidelines derived from the proposed PID control conΓΏguration and closed-loop stability analysis are presented.

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