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.
Multivariable PID Controller For Robotic Manipulator
NASA Tech Briefs ; 14 , 6
1990-06-01
Miscellaneous
No indication
English
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