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A Practical PID Regulator with Bounded Torques for Robot Manipulators
Victor Santibanez,Karla Camarillo,Javier Moreno-Valenzuela,Ricardo Campa 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.3
This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our control-ler considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of the closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.
On Output Feedback Tracking Control of Robot Manipulators with Bounded Torque Input
Javier Moreno-Valenzuela,Victor Santibanez,Ricardo Campa 대한전기학회 2008 International Journal of Control, Automation, and Vol.6 No.1
Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been proposed. In this paper we contribute to this subject by presenting a theoretical reexamination of a known controller, by using the theory of singularly perturbed systems. Motivated by this analysis, a redesign of that controller is introduced. As another contribution, we present an experimental evaluation in a two degrees-of-freedom revolute-joint direct-drive robot, confirming the practical feasibility of the proposed approach.