Decentralised PD and PID robotic regulators

摘要

The paper presents a new method of robotic manipulator control based on decentralised pole-placement feedback deduced from the computed torque method. An anticipatory action is included in the controller by ensuring subsequent desired joint positions, velocities and accelerations in the Newton-Euler equations of motion. The desired torques and the coordination parameters are computed in the first level (discrete) when the torques coming from the decentralised PD or PID regulators are computed in the second level (continuous). The parameters of the decentralised PD and PID regulators are given by simple laws. Decentralised control is appropriate for this control scheme because it is very easy to share calculations among the micro-processors with few interconnections. Then the stability of the regulator is investigated. Finally, the simulation results obtained for the PD and PID regulators are presented.