Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators

Javier Moreno-Valenzuela

doi:10.1109/IECON.2010.5675467

Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators

Javier Moreno-Valenzuela

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

It is well-know that many industrial manipulators use an embedded linear PI joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, no much attention has been paid to design new PI control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in this paper. By using the theory of singularly perturbed systems, the closed-loop system is studied. An experimental study in a planar two degrees-of-freedom direct-drive robot is also presented, confirming the advantage of the new saturated PI joint velocity controller.

Original language	English
Title of host publication	Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages	1459-1464
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2010.5675467
State	Published - 2010
Event	36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States Duration: 7 Nov 2010 → 10 Nov 2010

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Conference

Conference	36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Country/Territory	United States
City	Glendale, AZ
Period	7/11/10 → 10/11/10

Access to Document

10.1109/IECON.2010.5675467

Cite this

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title = "Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators",

abstract = "It is well-know that many industrial manipulators use an embedded linear PI joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, no much attention has been paid to design new PI control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in this paper. By using the theory of singularly perturbed systems, the closed-loop system is studied. An experimental study in a planar two degrees-of-freedom direct-drive robot is also presented, confirming the advantage of the new saturated PI joint velocity controller.",

author = "Javier Moreno-Valenzuela",

year = "2010",

doi = "10.1109/IECON.2010.5675467",

language = "Ingl{\'e}s",

isbn = "9781424452262",

series = "IECON Proceedings (Industrial Electronics Conference)",

pages = "1459--1464",

booktitle = "Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society",

note = "36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 ; Conference date: 07-11-2010 Through 10-11-2010",

}

Moreno-Valenzuela, J 2010, Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators. in Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society., 5675467, IECON Proceedings (Industrial Electronics Conference), pp. 1459-1464, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 7/11/10. https://doi.org/10.1109/IECON.2010.5675467

Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators. / Moreno-Valenzuela, Javier.
Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society. 2010. p. 1459-1464 5675467 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - It is well-know that many industrial manipulators use an embedded linear PI joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, no much attention has been paid to design new PI control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in this paper. By using the theory of singularly perturbed systems, the closed-loop system is studied. An experimental study in a planar two degrees-of-freedom direct-drive robot is also presented, confirming the advantage of the new saturated PI joint velocity controller.

AB - It is well-know that many industrial manipulators use an embedded linear PI joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, no much attention has been paid to design new PI control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in this paper. By using the theory of singularly perturbed systems, the closed-loop system is studied. An experimental study in a planar two degrees-of-freedom direct-drive robot is also presented, confirming the advantage of the new saturated PI joint velocity controller.

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T3 - IECON Proceedings (Industrial Electronics Conference)

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Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators

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