Dynamic sliding PID control for tracking of robot manipulators: theory and experiments

2003 ◽  
Vol 19 (6) ◽  
pp. 967-976 ◽  
Author(s):  
V. Parra-Vega ◽  
S. Arimoto ◽  
Yun-Hui Liu ◽  
G. Hirzinger ◽  
P. Akella
Keyword(s):  
Pid Control ◽  
Robot Manipulators ◽  
Theory And Experiments

PID Control of Robot Manipulators Equipped with SRMs

2020 ◽  
pp. 489-510
Author(s):  
Victor Manuel Hernández-Guzmán ◽  
Ramón Silva-Ortigoza ◽  
Jorge Alberto Orrante-Sakanassi
Keyword(s):  
Pid Control ◽  
Robot Manipulators

scholarly journals An Adaptive PID Control for Robot Manipulators Under Substantial Payload Variations

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 162261-162270 ◽  
Author(s):  
Junyoung Lee ◽  
Pyung Hun Chang ◽  
Byeonggi Yu ◽  
Maolin Jin
Keyword(s):  
Pid Control ◽  
Robot Manipulators ◽  
Adaptive Pid Control

Theory and Experiments on the Compliance Control of Redundant Robot Manipulators

1990 ◽  
Vol 112 (4) ◽  
pp. 653-660 ◽  
Author(s):  
H. Kazerooni ◽  
K. G. Bouklas ◽  
J. Guo
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Redundant Robot ◽  
Control Approach ◽  
Six Degrees Of Freedom ◽  
The Stability ◽  
Control Methodology ◽  
Theory And Experiments

This work presents a control methodology for compliant motion in redundant robot manipulators. This control approach takes advantage of the redundancy in the robot’s degrees of freedom: while a maximum six degrees of freedom of the robot control the robot’s endpoint position, the remaining degrees of freedom impose an appropriate force on the environment. To verify the applicability of this control method, an active end-effector is mounted on an industrial robot to generate redundancy in the degrees of freedom. A set of experiments are described to demonstrate the use of this control method in constrained maneuvers. The stability of the robot and the environment is analyzed.

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