Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources
The present work proposes the use of a hybrid controller combining concepts of a PID controller with LQR and a feedforward gain to control the positioning of a 2 DOF robotic arm with flexible joints subject to non-ideal excitations. To characterize the performance of the controls, two cases were stu...
Main Authors: | Angelo M. Tusset, Amarildo E. B. Pereira, Jose M. Balthazar, Frederic C. Janzen, Clivaldo Oliveira, Maria E. K. Fuziki, Giane G. Lenzi |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2023-03-01
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Series: | Robotics |
Subjects: | |
Online Access: | https://www.mdpi.com/2218-6581/12/2/51 |
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