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PID regulation of robot manipulators: stability and performance. (English) Zbl 0985.93038

Summary: Position control of robot manipulators using a novel PID control configuration derived from modeling error compensation ideas is introduced. The PID control law stability depends only on the inertial parameters of the robot. A simple proof of semiglobal PID stabilization of robot manipulators is provided. It is shown that the performance of the inverse dynamics control can be recovered by the PID control in the high-gain limit. Simple tuning guidelines derived from the proposed PID control configuration and closed-loop stability analysis are presented.

MSC:

93C85 Automated systems (robots, etc.) in control theory
70E60 Robot dynamics and control of rigid bodies
93B51 Design techniques (robust design, computer-aided design, etc.)
93D21 Adaptive or robust stabilization
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