Robust Tuning Rules for Series Elastic Actuator PID Cascade Controllers
| Autor: | Antonio Visioli, Stefano Ghidini, Manuel Beschi, Nicola Pedrocchi |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Collaborative robots Series elastic actuator Series (mathematics) Computer science media_common.quotation_subject PID Robust control Robot manipulator PID controller 02 engineering and technology Tuning rules Inertia 020901 industrial engineering & automation Control and Systems Engineering Control theory Cascade 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Actuator media_common |
| Zdroj: | IFAC-PapersOnLine 51 (2018): 220–225. doi:10.1016/j.ifacol.2018.06.069 info:cnr-pdr/source/autori:Ghidini, Stefano; Beschi, Manuel; Pedrocchi, Nicola; Visioli, Antonio/titolo:Robust Tuning Rules for Series Elastic Actuator PID Cascade Controllers/doi:10.1016%2Fj.ifacol.2018.06.069/rivista:IFAC-PapersOnLine/anno:2018/pagina_da:220/pagina_a:225/intervallo_pagine:220–225/volume:51 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2018.06.069 |
| Popis: | This paper deals with the control of a collaborative robot manipulator with series elastic actuators. In particular, robust tuning rules for cascade control of the joints are presented. Both the motor velocity and link position control loops are considered. The proposed tuning rules allow the online computation of robust control parameters to cope with the different link reflected inertia. Experimental results show the effectiveness of the method in real applications. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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