TY - GEN
T1 - Analysis and experimental evaluation of a robust saturated PI velocity controller for robot manipulators
AU - Moreno-Valenzuela, Javier
PY - 2010
Y1 - 2010
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.
UR - http://www.scopus.com/inward/record.url?scp=78751564806&partnerID=8YFLogxK
U2 - 10.1109/IECON.2010.5675467
DO - 10.1109/IECON.2010.5675467
M3 - Contribución a la conferencia
AN - SCOPUS:78751564806
SN - 9781424452262
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1459
EP - 1464
BT - Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
T2 - 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Y2 - 7 November 2010 through 10 November 2010
ER -