Home > Papers

 
 
PD plus Error-dependent Controllers for Robot Manipulators with Uncertain Kinematics
HUANG Chunqing 1 * #,XIE Lifen 2
1.Department of Automation, Xiamen University
2.Department of Automation, Xiamen University, Xiamen, 361005
*Correspondence author
#Submitted by
Subject:
Funding: Research Fund for the Doctoral Program of Higher Education（No.No. 20070384031）, Fundamental Research Funds for the Central Universities（No.No. 2010121064）, Supported by the National Natural Science Foundation of China （No.No. 60704043）
Opened online:17 June 2011
Accepted by: none
Citation: HUANG Chunqing,XIE Lifen.PD plus Error-dependent Controllers for Robot Manipulators with Uncertain Kinematics[OL]. [17 June 2011] http://en.paper.edu.cn/en_releasepaper/content/4432345
 
 
In framework of PID controllers, there is only three parameters available to tune, as a result, performance of the resulting system is always limited. As for Cartesian regulation of robot manipulators with uncertain kinematics, a new scheme of PID controllers with error-dependent integral action is proposed. Compare with the traditional PID controllers, the error-dependent integration is employed in this proposed controller to improve performance. It makes better transient performance possible since more tuning parameters are involved to be tuning in this PID structure. Finally, numerical example demonstrates the efficiency of the proposed PID controller by Cartesian space set-point manipulation of two-link robotic manipulator.
Keywords:Robot manipulator; PID; uncertain kinematics
 
 
 

For this paper
  • ● PDF (0B)
  • ● Revision 0 　　
  • ● Print this paper
  • ● Recommend this paper to a friend
  • ● Add to my favorite list

    Saved Papers

    Please enter a name for this paper to be shown in your personalized Saved Papers list

Tags
Add yours

Related Papers

Statistics
PDF Downloaded 279
Bookmarked 0
Recommend 5
Comments Array
Submit your papers