Research on Control of Two Link Flexible Joint Manipulators with Improved PID Method

Author

Shuangbao Shu ; Houru Zhao ; Bangjian Xi ; Jin Yan

Author_Institution

Sch. of Instrum. Sci. & Opto-Electron. Eng., Hefei Univ. of Technol., Hefei, China

Volume

2

fYear

2014

fDate

26-27 Aug. 2014

Firstpage

121

Lastpage

124

Abstract

To realize the tracking control of joint manipulator trajectory, an improved PID control method is presented in this paper. This paper also introduces the system structure of Selective Compliance Assembly Robot Arm (SCARA), and gives dynamic modeling of two link flexible joint manipulator in detail. By using Matlab/Simulink, and preparation of an S function based on the S-function module, the manipulator system can be simulated. The results of the simulation indicate that the modified PID control method is very effective for trajectory tracking control of mechanical arm.

Keywords

flexible manipulators; industrial manipulators; manipulator dynamics; robotic assembly; three-term control; trajectory control; Matlab/Simulink; PID control method; S function preparation; SCARA; dynamic modeling; joint manipulator trajectory; mechanical arm; selective compliance assembly robot arm; system structure; trajectory tracking control; two link flexible joint manipulators; Equations; Filtering algorithms; Joints; Manipulator dynamics; Mathematical model; Lagrangian method; PID control; SCARA; mechanical arm;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2014 Sixth International Conference on

Conference_Location

Hangzhou

Print_ISBN

978-1-4799-4956-4

Type

conf

DOI

10.1109/IHMSC.2014.132

Filename

6911463