MANIPULATION
Robust PID control for robots manipulators with elastic joints
J. Alavarez-Ramirezi, Ilse Cervantes, René F. Vázquez Bautista
- Year
- 2002
- Citations
- 10
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 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.
Keywords
Control theory (sociology)PID controllerPosition (finance)RobotRotor (electric)Stability (learning theory)Controller (irrigation)Computer scienceExponential stabilityAction (physics)
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