Industrial manipulators are under various limitations against high quality motion control; for example, both frictional and dynamic disturbances should be dealt with a simple PID control structure. A robust linear PID motion controller, called the reference error feedback (REF), is proposed, which solves the nonlinear -gain attenuation control problem for robotic manipulators. The stability, robustness, and performance tuning of the proposed controller are analyzed. Making use of the fact that the single parameter of the induced -gain γ controls the performance with stability attained, we propose a simple and stable method of performance tuning called “the square law.” The analytical results are verified through experiments of a six-degrees-of-freedom industrial manipulator. [S0022-0434(00)00104-0]
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e-mail: coolcat@postech.ac.kr
e-mail: wkchung@postech.ac.kr
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December 2000
Technical Papers
Design of a Robust PID Control for Industrial Manipulators
Jonghoon Park, Post Doctoral,
e-mail: coolcat@postech.ac.kr
Jonghoon Park, Post Doctoral
Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science & Technology (Postech), San-31, Hyoja-Dong, Pohang, 790-784, Korea
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Wankyun Chung, Associate Professor
e-mail: wkchung@postech.ac.kr
Wankyun Chung, Associate Professor
Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science & Technology (Postech), San-31, Hyoja-Dong, Pohang, 790-784, Korea
Search for other works by this author on:
Jonghoon Park, Post Doctoral
Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science & Technology (Postech), San-31, Hyoja-Dong, Pohang, 790-784, Korea
e-mail: coolcat@postech.ac.kr
Wankyun Chung, Associate Professor
Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science & Technology (Postech), San-31, Hyoja-Dong, Pohang, 790-784, Korea
e-mail: wkchung@postech.ac.kr
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division December 25, 1999. Associate Technical Editor: Y. Hurmuzlu.
J. Dyn. Sys., Meas., Control. Dec 2000, 122(4): 803-812 (10 pages)
Published Online: December 25, 1999
Article history
Received:
December 25, 1999
Citation
Park, J., and Chung, W. (December 25, 1999). "Design of a Robust PID Control for Industrial Manipulators ." ASME. J. Dyn. Sys., Meas., Control. December 2000; 122(4): 803–812. https://doi.org/10.1115/1.1310367
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