Gains updated during operation to cope with changes in characteristics and loads. Conceptual multivariable controller for robotic manipulator includes proportional/derivative (PD) controller in inner feedback loop, and proportional/integral/derivative (PID) controller in outer feedback loop. PD controller places poles of transfer function (in Laplace-transform space) of control system for linearized mathematical model of dynamics of robot. PID controller tracks trajectory and decouples input and output.


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    Title :

    Multivariable PID Controller For Robotic Manipulator


    Contributors:

    Published in:

    Publication date :

    1990-06-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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