Improving a position controller for a robotic joint

• Type: Article in International Conference Proceedings Book
• Date: 2021

Authors

António Paulo Moreira (Author) FEUP; Lima, J (Author) Other; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

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

Pages: 97-103

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 4 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7