DocumentCode
1159851
Title
PD control with computed feedforward of robot manipulators: a design procedure
Author
Kelly, Rafael ; Salgado, Ricardo
Author_Institution
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Volume
10
Issue
4
fYear
1994
fDate
8/1/1994 12:00:00 AM
Firstpage
566
Lastpage
571
Abstract
In the present paper, we propose an explicit design procedure for selecting the proportional and derivative gains of the PD control with computed feedforward of robot manipulators. The proposed procedure, which is easily obtained from the robot dynamics and desired trajectory, assures that the closed-loop system has an unique equilibrium point. In addition, this equilibrium turns out to be (locally) exponentially stable. Simulation tests are included, with reference to a robot having two degrees of freedom
Keywords
closed loop systems; control system synthesis; robots; two-term control; PD control; closed loop system; derivative gain; design; dynamics; equilibrium point; feedforward control; manipulators; proportional gain; robot; Acceleration; Actuators; Automatic control; Manipulator dynamics; Motion control; Optimal control; Orbital robotics; PD control; Robot control; Robotics and automation;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.313108
Filename
313108
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