A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators
Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G contr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9122010/ |
| _version_ | 1818857172266647552 |
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| author | Adolfo Perrusquia Juan Alejandro Flores-Campos Christopher Rene Torres-San-Miguel |
| author_facet | Adolfo Perrusquia Juan Alejandro Flores-Campos Christopher Rene Torres-San-Miguel |
| author_sort | Adolfo Perrusquia |
| collection | DOAJ |
| description | Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle's theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots. |
| first_indexed | 2024-12-19T08:36:10Z |
| format | Article |
| id | doaj.art-f609147689cf446dbe1b847b61e59e0d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T08:36:10Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-f609147689cf446dbe1b847b61e59e0d2022-12-21T20:29:03ZengIEEEIEEE Access2169-35362020-01-01811477311478310.1109/ACCESS.2020.30038429122010A Novel Tuning Method of PD With Gravity Compensation Controller for Robot ManipulatorsAdolfo Perrusquia0https://orcid.org/0000-0003-2290-1160Juan Alejandro Flores-Campos1https://orcid.org/0000-0002-1632-7716Christopher Rene Torres-San-Miguel2https://orcid.org/0000-0003-0291-7384Departamento de Control Automético, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN), Mexico City, MexicoUnidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas del Instituto Politécnico Nacional (UPIITA-Instituto Politécnico Nacional), Mexico City, MexicoSección de Estudios de Posgrado e Investigación ESIME-Zacatenco, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, Mexico City, MexicoProportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle's theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots.https://ieeexplore.ieee.org/document/9122010/Global asymptotic stabilityLyapunov functionPD controlgravity compensationtuning |
| spellingShingle | Adolfo Perrusquia Juan Alejandro Flores-Campos Christopher Rene Torres-San-Miguel A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators IEEE Access Global asymptotic stability Lyapunov function PD control gravity compensation tuning |
| title | A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators |
| title_full | A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators |
| title_fullStr | A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators |
| title_full_unstemmed | A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators |
| title_short | A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators |
| title_sort | novel tuning method of pd with gravity compensation controller for robot manipulators |
| topic | Global asymptotic stability Lyapunov function PD control gravity compensation tuning |
| url | https://ieeexplore.ieee.org/document/9122010/ |
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