Implementation of a lag-lead compensator for robots

A frequency response approach was used to design and realize a lag-lead compensator for a robot arm. An analytical comparison between a PD (proportional-derivative) or PID (proportional integral-derivative) controller and a lag-lead compensator shows that the latter reduces the tradeoffs between the static accuracy, system stability, and is insensitive to disturbances in the frequency domain. The implementation and test results verify the encouraging results in the time domain. The lag-lead compensator reduces the tracking errors considerably