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Controlled Robotic Systems

  • Suril Vijaykumar Shah
  • Subir Kumar Saha
  • Jayanta Kumar Dutt
Chapter
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 62)

Abstract

A controller is an essential part of a robotic system in achieving desired motion. A Proportional Integral Derivative (PID) controller is the simplest form of controller used for this purpose. A PID controller is widely used in industries for the control of processes or machines. In a robotic system, e.g., an industrial robot, a PID controller independently controls motion of each joint ignoring the effects of the system’s dynamics. However, for accomplishing complex motion or task, a PID controller does not always result into best performance, as shown by Lewis et al. (2004), Kelly et al. (2005), and Craig (2006). The legged robots discussed in Chaps. 6 and 7 are meant to perform a variety of complex tasks. As a result, the use of a PID controller without taking into account dynamics of the legged robots would result into poor control performance. On the other hand, the use of model-based controllers (Lewis et al. 2004; Kelly et al. 2005) has become popular in order to improve the performance of the conventional PID controllers. The model-based controllers work based on the information of the dynamic model of a system. If the dynamic model of a robot is not very accurate, the model-based control approach will still be able to eliminate major nonlinearities due to the robot’s inertia. In this chapter, simulation of model-based control of several robotic systems will be carried out.

Keywords

Joint Angle Robotic System Joint Torque Proportional Integral Derivative Feedforward Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. Craig, J. J. (2006). Introduction to robotics, mechanics and control. Delhi: Pearson Education.Google Scholar
  2. Kelly, R., Santibanez, V., & Loria, A. (2005). Control of robot manipulators in joint space. London: Springer.Google Scholar
  3. Lewis, F. L., Dawson, D. M., & Abdallah, C. T. (2004). Robot manipulator control: Theory and practice. New York: Marcel Dekker Inc.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • Suril Vijaykumar Shah
    • 1
  • Subir Kumar Saha
    • 2
  • Jayanta Kumar Dutt
    • 2
  1. 1.McGill UniversityMontrealCanada
  2. 2.Department of Mechanical EngineeringIIT DelhiNew DelhiIndia

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