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Improving a position controller for a robotic joint

2021Comunicação em conferência Acesso aberto
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dc.contributor.authorMoreira, António Paulo G. M.
dc.contributor.authorLima, José
dc.contributor.authorCosta, Paulo Gomes da
dc.date.accessioned2023-03-03T12:02:06Z
dc.date.available2023-03-03T12:02:06Z
dc.date.issued2021
dc.description.abstractThere 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.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationMoreira, 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. 97-103pt_PT
dc.identifier.doi10.1109/ICARSC52212.2021.9429809pt_PT
dc.identifier.urihttp://hdl.handle.net/10198/27442
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherIEEEpt_PT
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectPIDpt_PT
dc.subjectCascade controllerpt_PT
dc.subjectFeedforwardpt_PT
dc.subjectGainspt_PT
dc.subjectTuningpt_PT
dc.subjectIMCpt_PT
dc.titleImproving a position controller for a robotic jointpt_PT
dc.typeconference paper
dspace.entity.typePublication
oaire.citation.endPage103pt_PT
oaire.citation.startPage97pt_PT
oaire.citation.title2021 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2021pt_PT
person.familyNameLima
person.givenNameJosé
person.identifierR-000-8GD
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id55851941311
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublicationd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublication.latestForDiscoveryd88c2b2a-efc2-48ef-b1fd-1145475e0055

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