Enhancing the Robot PD-Type Feedback Control Performance by Means of Inertial Effects Compensation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F20%3A39916814" target="_blank" >RIV/00216275:25530/20:39916814 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/xpl/conhome/9265488/proceeding" target="_blank" >https://ieeexplore.ieee.org/xpl/conhome/9265488/proceeding</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICACR51161.2020.9265498" target="_blank" >10.1109/ICACR51161.2020.9265498</a>
Alternative languages
Result language
angličtina
Original language name
Enhancing the Robot PD-Type Feedback Control Performance by Means of Inertial Effects Compensation
Original language description
The paper describes a modification of the PD-type algorithm with gravity effects compensation for control of robot manipulators, which tries to partially ompensate the influence of inertial terms in the robot motion equations to achieve uniform effect of control on individual axes. In this way it is possible to reduce the overall settling time and to enhance the tracking precision for given magnitude of the control signal, which is demonstrated on a 5-DOF robot example. In comparison to the inverse dynamics method, the influence of non-linear terms in the robot motion equations on total control input is reduced, which helps to increase the control performance and to prevent from reaching the saturation limits. For the basic version of the method asymptotical stability of the control error is proved.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2020 4th Iternational Conference on Automation, Control and Robots (ICACR 2020)
ISBN
978-1-72819-207-9
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
IEEE (Institute of Electrical and Electronics Engineers)
Place of publication
New York
Event location
Řím
Event date
Oct 11, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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