A carregar...
Publicação
Improving a position controller for a robotic joint
| Nome: | Descrição: | Tamanho: | Formato: | |
|---|---|---|---|---|
| 2.78 MB | Adobe PDF |
Orientador(es)
Resumo(s)
There are several industrial processes that are controlled by a PID or similar controller. In robotics it is also usual the need of position control of joints. Tune a controller is the process to obtain the gains that optimise the behaviour of the system while maintaining its stability and robustness. This paper presents an approach of tuning a speed controller using the Internal Model Control (IMC) method and a position controller using the second order Bessel prototype while testing in different controllers methodology, such as PID, Cascade and feedforward combination with dead zone compensation. In order to compare the controllers, results for an Hermite reference position will allow to validate the proposed solution.
Descrição
Palavras-chave
PID Cascade controller Feedforward Gains Tuning IMC
Contexto Educativo
Citação
Moreira, A. Paulo; Lima, José; Costa, Paulo (2021). Improving a position controller for a robotic joint. In IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2021. p. 97-103
Editora
IEEE