PD Control with Desired Gravity Compensation of Robotic Manipulators
PD Control with Desired Gravity Compensation of Robotic Manipulators
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DOI：
10.1177/027836499701600505
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发表时间：
1997-10
期刊：
影响因子：
--
通讯作者：
R. Kelly
中科院分区：
文献类型：
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作者：
R. Kelly
具有理想重力补偿的PD控制是机器人机械手最简单的位置控制器之一。本文的目的是回顾文献中报道的这种控制方案的重要方面。首先给出了闭环系统解的有界性，以及平衡唯一性的条件。详细讨论了Takegaki和Arimoto（1981）提供的全局渐近稳定性分析，以及使用严格Lyapunov函数的替代方法。研究了控制系统对参数不确定性的稳定性和鲁棒性。我们表明，如果违反设计程序，可能会出现平衡分岔等有趣的现象。为了克服参数的不确定性，我们回顾了具有理想重力补偿的PD控制的自适应版本，最后，我们修改了控制器的扩展以处理具有弹性关节的机器人。
One of the simplest position controllers for robot manipula tors is the PD control with desired gravity compensation. The objective of this article is to review important aspects of this control scheme that are reported in the literature. We begin by showing the boundedness of solutions for the closed-loop system, and conditions for equilibrium uniqueness. The global asymptotic stability analysis provided by Takegaki and Arimoto (1981) is discussed in detail, as well as an alternative method that uses a strict Lyapunov function. The stability robustness of the control system against parametric uncertainties is also ad dressed. We show that interesting phenomena such as equilibria bifurcation can appear if the design procedure is violated. To overcome parametric uncertainties, we review an adaptive ver sion of the PD control with desired gravity compensation, and finally, we revise an extension of the controller to handle robots with elastic joints.