Name
Abstract | ||
|---|---|---|
This paper addresses the iterative tuning method of PID control for the robot manipulator based on the responses of the closed loop system. Several properties of the robot control are used, such as any PD control can stabilize a robot in regulation case, the colsed-loop system of PID control can be approximated by a linear system, and the control torque to the robot manipulator is linearly independent of the robot dynamic. By using these properties, a novel systematic turning method for the PID control is proposed. Simulations and experimental results of an upper limb exoskeleton give validation of this PID tuning method. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICCA.2011.6138081 | ICCA |
Keywords | Field | DocType |
upper limb exoskeleton,systematic tuning method,legged locomotion,torque control,regulation case,pid controller,closed loop system response,linear system,manipulators,linear systems,control torque,stability,pid tuning method,regulation,iterative tuning method,closed loop systems,three-term control,iterative methods,robot manipulator,pid control,tuning,robot control,robots,exoskeletons | Robot control,Torque,Linear system,Robot calibration,PID controller,Control theory,Iterative method,Control engineering,Exoskeleton,Engineering,Robot | Conference |
ISSN | ISBN | Citations |
1948-3449 | 978-1-4577-1475-7 | 5 |
PageRank | References | Authors |
0.52 | 5 | 2 |