Improving a position controller for a robotic joint

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2021

Autores

António Paulo Moreira (Autor) FEUP; Lima, J (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP

Ata de Conferência Internacional

Título: 2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Páginas: 97-103

Indexação

ISI Web of Knowledge - 4 Citações

Scopus - 6 Citações

Outras Informações

ID Authenticus: P-00T-ZY9

DOI: 10.1109/icarsc52212.2021.9429809

Abstract (EN): There are several industrial processes that are controlled by a PID or similar controller. In robotics it is also usual the need of position control of joints. Tune a controller is the process to obtain the gains that optimise the behaviour of the system while maintaining its stability and robustness. This paper presents an approach of tuning a speed controller using the Internal Model Control (IMC) method and a position controller using the second order Bessel prototype while testing in different controllers methodology, such as PID, Cascade and feedforward combination with dead zone compensation. In order to compare the controllers, results for an Hermite reference position will allow to validate the proposed solution.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7