A Tuning Procedure for Stable PID Control of Robot Manipulators

Robotica

Volumn 13, Issue 2, 1995, Pages 141-148

  Kelly, Rafael ^a  

^a CENTRO DE INVESTIGACIÓN CIENTÍFICA Y DE EDUCACIÓN SUPERIOR DE ENSENADA   (Mexico)

Author keywords

PID control; Robots; Set point control; Stability

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; GRAVITATION; INVARIANCE; LYAPUNOV METHODS; MATRIX ALGEBRA; SYSTEM STABILITY; THREE TERM CONTROL SYSTEMS; TORQUE; VECTORS;

GRAVITATIONAL TORQUE VECTOR; INERTIA MATRIX; SET POINT CONTROL; STABILITY ANALYSIS; TUNING PROCEDURE;

MANIPULATORS;

EID: 0029267587     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574700017641     Document Type: Article

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