A practical PID regulator with bounded torques for robot manipulators

Victor Santibañez, Karla Camarillo, Javier Moreno-Valenzuela, Ricardo Campa

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

62 Citas (Scopus)

Resumen

This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of die closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.

Idioma originalInglés
Páginas (desde-hasta)544-555
Número de páginas12
PublicaciónInternational Journal of Control, Automation and Systems
Volumen8
N.º3
DOI
EstadoPublicada - jun. 2010
Publicado de forma externa

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