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

Research output: Contribution to conferencePaperResearch

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. © 2010 IEEE.
Original languageAmerican English
Pages1459-1464
Number of pages1312
DOIs
StatePublished - 1 Dec 2010
EventIECON Proceedings (Industrial Electronics Conference) -
Duration: 24 Feb 2014 → …

Conference

ConferenceIECON Proceedings (Industrial Electronics Conference)
Period24/02/14 → …

Fingerprint

robots
Manipulators
manipulators
controllers
Robots
Controllers
evaluation
Industrial manipulators
commands
Motion control
feedback control
Closed loop systems
degrees of freedom

Cite this

Moreno-Valenzuela, Javier. / Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators. Paper presented at IECON Proceedings (Industrial Electronics Conference), .1312 p.
@conference{575bcbd9ba33440f84488a0099f09305,
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. {\circledC} 2010 IEEE.",
author = "Javier Moreno-Valenzuela",
year = "2010",
month = "12",
day = "1",
doi = "10.1109/IECON.2010.5675467",
language = "American English",
pages = "1459--1464",
note = "IECON Proceedings (Industrial Electronics Conference) ; Conference date: 24-02-2014",

}

Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators. / Moreno-Valenzuela, Javier.

2010. 1459-1464 Paper presented at IECON Proceedings (Industrial Electronics Conference), .

Research output: Contribution to conferencePaperResearch

TY - CONF

T1 - Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators

AU - Moreno-Valenzuela, Javier

PY - 2010/12/1

Y1 - 2010/12/1

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. © 2010 IEEE.

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. © 2010 IEEE.

UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78751564806&origin=inward

UR - https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=78751564806&origin=inward

U2 - 10.1109/IECON.2010.5675467

DO - 10.1109/IECON.2010.5675467

M3 - Paper

SP - 1459

EP - 1464

ER -