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A practical PID regulator with bounded torques for robot manipulators

  • Victor Santibañez
  • Karla Camarillo
  • Javier Moreno-Valenzuela
  • Ricardo Campa
Regular Papers Control Applications

Abstract

This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of the closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.

Keywords

Bounded torques PID control singular perturbations stability analysis 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Victor Santibañez
    • 1
  • Karla Camarillo
    • 2
  • Javier Moreno-Valenzuela
    • 3
  • Ricardo Campa
    • 1
  1. 1.Instituto Tecnologico de la LagunaTorreon, CoahuilaMexico
  2. 2.Instituto Tecnológico de CelayaCelaya, GuanajuatoMexico
  3. 3.Centro de Investigacion y Desarrollo de Tecnologia Digital del IPNTijuana, B.C.Mexico

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