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

Tsuyoshi Shibata, Toshiyuki Murakami

Research output: Contribution to conferencePaper

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
Pages183-188
Number of pages6
DOIs
Publication statusPublished - 2006 Nov 21
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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Shibata, T., & Murakami, T. (2006). A control strategy of null space motion using passivity of PID controller. 183-188. Paper presented at 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631655