A control strategy of null space motion using passivity of PID controller

Tsuyoshi Shibata, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, strategy of design in null space by a PID controller is proposed. There are many studies about asymptotical stabilizing by PID controller about a robot manipulator. Recently, robot works in various situations. It is necessary for the robot manipulator to have many degrees of freedom(DOF). So, we consider a control strategy of manipulator motion using a redundant manipulator. The redundant manipulator can divide into work space and null space. Here, we propose that work space carries out position control and null space uses PID control. Work space sets an observer. It is said to be work space observer. And, in null space, design of parameters of PID controller is used passive theory. In addition when unknown disturbance (interactive null space interference) is operated null space, it is compensated by the PID controller. To compensate null space disturbance, γ-dissipative property is used. Finally, we carry out experiments for 4-link manipulator. In addition, comparing proposed method with PD control using null space observer is introduced. So, feasibility of control design of null space by the PID controller is confirmed.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages183-188
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

Fingerprint

Manipulators
Controllers
Redundant manipulators
Robots
Three term control systems
Position control
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Shibata, T., & Murakami, T. (2006). A control strategy of null space motion using passivity of PID controller. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 183-188). [1631655] https://doi.org/10.1109/AMC.2006.1631655

A control strategy of null space motion using passivity of PID controller. / Shibata, Tsuyoshi; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 183-188 1631655.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shibata, T & Murakami, T 2006, A control strategy of null space motion using passivity of PID controller. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631655, pp. 183-188, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631655
Shibata T, Murakami T. A control strategy of null space motion using passivity of PID controller. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 183-188. 1631655 https://doi.org/10.1109/AMC.2006.1631655
Shibata, Tsuyoshi ; Murakami, Toshiyuki. / A control strategy of null space motion using passivity of PID controller. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 183-188
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