PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments

Automatica ◽  
2005 ◽  
Vol 41 (10) ◽  
pp. 1809-1819 ◽  
Author(s):  
Alessandro De Luca ◽  
Bruno Siciliano ◽  
Loredana Zollo
Keyword(s):  
Gravity Compensation ◽  
Pd Control ◽  
On Line ◽  
Elastic Joints ◽  
Theory And Experiments

scholarly journals PD control with on-line gravity compensation for robots with flexible links

2007 ◽  
Author(s):  
Loredana Zollo ◽  
Bruno Siciliano ◽  
Alessandro De Luca ◽  
Eugenio Guglielmelli
Keyword(s):  
Gravity Compensation ◽  
Pd Control ◽  
Flexible Links ◽  
On Line

Fuzzy Self-Tuning Precompensation PD Control with Gravity Compensation of 3 DOF Planar Robot Manipulators

2010 ◽  
Vol 22 (4) ◽  
pp. 551-560
Author(s):  
Ahmed Foad Amer ◽  
◽  
Elsayed Abdelhameed Sallam ◽  
Wael Mohammed Elawady ◽  
Keyword(s):  
Fuzzy Control ◽  
Fuzzy Controller ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
External Perturbation ◽  
Gravity Compensation ◽  
Pd Control ◽  
Control Laws ◽  
Self Tuning ◽  
Fuzzy Pd

Industrial robot control covers nonlinearity, uncertainty and external perturbation considered in control laws design. Proportional and Derivative (PD) with gravity compensation control is well-known control used in manipulators to ensure global asymptotic stability for fixed symmetrical positive definite gain matrices. To enhance PD with gravity compensation controller performance, in this paper, we propose hybrid fuzzy PD control precompensation with gravity compensation, consisting of a fuzzy logic-based precompensator followed by hybrid fuzzy PD with gravity compensation controller. Hybrid fuzzy control is done by a Supervisory Hierarchical Fuzzy Controller (SHFC) for tuning conventional controller Proportional and Derivative gains based on actual tracking location and velocity error. Hierarchical hybrid fuzzy control consists of an intelligent upper supervisory fuzzy controller and a lower direct conventional PD controller. Numerical simulations using the dynamic model of a three DOF planar rigid robot manipulator with uncertainty show the effectiveness of the approach in trajectory tracking problems. Our results show that the proposal controller has performance superior to a conventional controller.

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