Cart (Loading....) | Create Account
Close category search window
 

Optimal/PID formulation for control of robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Luo, G.L. ; Rensselaer Polytechnic Institute Troy, NY ; Saridis, G.N.

An optimal control formulation for robotic manipulators is proposed in this paper. The Computed Torque Control, Resolved Acceleration Control, and a PID End Point Control are derived as special cases of this formulation. Torque and acceleration feedback are adopted to eliminate the on-line calculations of feed forward components in the above control algorithms, and to increase robustness of the control system. This controller can be implemented approximately without torque sensors and accelerometers. The resulting control system is proved to be bounded input bounded state stable. Simulation results on both the Scheinman MIT and PUMA 600 arms are presented.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.