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Static stability of manipulators

✍ Scribed by A. A. Dobrachev; L. T. Raevskaya; A. V. Shvets

Book ID
111509701
Publisher
Allerton Press, Inc.
Year
2009
Tongue
English
Weight
118 KB
Volume
29
Category
Article
ISSN
1068-798X

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PID regulation of robot manipulators: st
PID regulation of robot manipulators: stability and performance
✍ Jose Alvarez-Ramirez; Ilse Cervantes; Rafael Kelly πŸ“‚ Article πŸ“… 2000 πŸ› Elsevier Science 🌐 English βš– 252 KB

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 prov