A novel PID tuning method for robot control

Purpose – This paper aims to address a new iterative tuning method of PID control for robot manipulators. Design/methodology/approach – This tuning method uses several properties of the robot control, such as any PD control can stabilize a robot in regulation case, the closed-loop system of PID cont...

Full description

Saved in:
Bibliographic Details
Published in:Industrial robot 2013-01, Vol.40 (6), p.574-582
Main Authors: Yu, Wen, Li, Xiaoou, Carmona, Roberto
Format: Article
Language:English
Subjects:
Algorithms
Behavior
Closed loop systems
Control systems
Dynamical systems
Engineering
Gravity
Industrial engineering, design & manufacturing
Manipulators
Methods
Neural networks
Process controls
Proportional integral derivative
Regulation
Robot arms
Robot control
Robots
Studies
Tuning
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Purpose – This paper aims to address a new iterative tuning method of PID control for robot manipulators. Design/methodology/approach – This tuning method uses several properties of the robot control, such as any PD control can stabilize a robot in regulation case, the closed-loop system of PID control can be approximated by a linear system, the control torque to the robot manipulator is linearly independent of the robot dynamic. Findings – Compared with the other PID tuning methods, this novel method is simple, systematic, and stable. The transient properties of this PID control are better than the other normal PID controllers. Originality/value – In this paper, a new systematic tuning method for PID control is proposed. The paper applies this method on an upper limb exoskeleton, and real experiment results give validation of our PID tuning method.
ISSN:0143-991X
1758-5791
DOI:10.1108/IR-09-2012-406