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

Tsuyoshi Shibata, Toshiyuki Murakami

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

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.

本文言語English
ページ183-188
ページ数6
DOI
出版ステータスPublished - 2006 11 21
イベント9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3 272006 3 29

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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