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PID Anti-Vibration Control of a Robotic Arm

2016; Institute of Electrical and Electronics Engineers; Volume: 14; Issue: 7 Linguagem: Inglês

10.1109/tla.2016.7587614

1548-0992

José de Jesús Rubio, Panuncio Cruz, L.A. Paramo, Jesús Alberto Meda-Campaña, Dante Mújica‐Vargas, Ramón Silva‐Ortigoza,

Adaptive Control of Nonlinear Systems

The proportional derivative (PD) control is the most employed method in the trajectory tracking of industrial robots. In the PD control, the stability is guaranteed when its gains are very large; however, the tracking error does not decrease to zero when the vibration effects are considered. In this paper, a proportional integral derivative (PID) anti-vibration control is designed for decreasing the vibration effects in the displacements of a robotic manipulator. The semi-global asymptotic stability of the introduced strategy is assured.