TY - JOUR
T1 - PID Anti-Vibration Control of a Robotic Arm
AU - Rubio, Jose De Jesus
AU - Cruz, Panuncio
AU - Paramo, Luis Alberto
AU - Meda, Jesus Alberto
AU - Mujica, Dante
AU - Ortigoza, Ramon Silva
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7
Y1 - 2016/7
N2 - The proportional derivative (PD) control is the most employed method in the trajectory tracking of industrial robots. In the PD control, the stability is guaranteed when its gains are very large; however, the tracking error does not decrease to zero when the vibration effects are considered. In this paper, a proportional integral derivative (PID) anti-vibration control is designed for decreasing the vibration effects in the displacements of a robotic manipulator. The semi-global asymptotic stability of the introduced strategy is assured.
AB - The proportional derivative (PD) control is the most employed method in the trajectory tracking of industrial robots. In the PD control, the stability is guaranteed when its gains are very large; however, the tracking error does not decrease to zero when the vibration effects are considered. In this paper, a proportional integral derivative (PID) anti-vibration control is designed for decreasing the vibration effects in the displacements of a robotic manipulator. The semi-global asymptotic stability of the introduced strategy is assured.
KW - PID control
KW - Vibration
UR - http://www.scopus.com/inward/record.url?scp=84992109269&partnerID=8YFLogxK
U2 - 10.1109/TLA.2016.7587614
DO - 10.1109/TLA.2016.7587614
M3 - Artículo
SN - 1548-0992
VL - 14
SP - 3144
EP - 3150
JO - IEEE Latin America Transactions
JF - IEEE Latin America Transactions
IS - 7
M1 - 7587614
ER -