Robust PID control for robots manipulators with elastic joints

Jose Alavarez-Ramirez; Ilse Cervantes; Ricardo Bautista

Robust PID control for robots manipulators with elastic joints

Jose Alavarez-Ramirez, Ilse Cervantes, Ricardo Bautista

Research output: Contribution to conference › Paper › peer-review

Abstract

This work studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD control action on the rotor position and an I action on the link position suffices to provide semiglobal asymptotic stability of the desired link position.

Original language	English
Pages	542-547
Number of pages	6
State	Published - 2001
Externally published	Yes
Event	Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico Duration: 5 Sep 2001 → 7 Sep 2001

Conference

Conference	Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01
Country/Territory	Mexico
City	Mexico City
Period	5/09/01 → 7/09/01

Keywords

Elastic joints robots
PID control

Cite this

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title = "Robust PID control for robots manipulators with elastic joints",

abstract = "This work studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD control action on the rotor position and an I action on the link position suffices to provide semiglobal asymptotic stability of the desired link position.",

keywords = "Elastic joints robots, PID control",

author = "Jose Alavarez-Ramirez and Ilse Cervantes and Ricardo Bautista",

year = "2001",

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

pages = "542--547",

note = "Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01 ; Conference date: 05-09-2001 Through 07-09-2001",

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TY - CONF

T1 - Robust PID control for robots manipulators with elastic joints

AU - Alavarez-Ramirez, Jose

AU - Cervantes, Ilse

AU - Bautista, Ricardo

PY - 2001

Y1 - 2001

N2 - This work studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD control action on the rotor position and an I action on the link position suffices to provide semiglobal asymptotic stability of the desired link position.

AB - This work studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD control action on the rotor position and an I action on the link position suffices to provide semiglobal asymptotic stability of the desired link position.

KW - Elastic joints robots

KW - PID control

UR - http://www.scopus.com/inward/record.url?scp=0035697222&partnerID=8YFLogxK

M3 - Artículo

SP - 542

EP - 547

T2 - Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01

Y2 - 5 September 2001 through 7 September 2001

ER -

Robust PID control for robots manipulators with elastic joints

Abstract

Conference

Keywords

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Cite this