MANIPULATION
Pid Regulation Of Robot Manipulators With Elastic Joints
José Álvarez‐Ramírez, Ilse Cervantes
- Year
- 2003
- Citations
- 17
Abstract
ABSTRACT This paper studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD action on the rotor position and an integral control action on the link position suffice to provide semiglobal asymptotic stability of the desired link position.
Keywords
PID controllerControl theory (sociology)Position (finance)RobotStability (learning theory)Rotor (electric)Controller (irrigation)Action (physics)Computer scienceControl engineering
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