PD control with computed feedforward of robot manipulators: a design procedure
PD control with computed feedforward of robot manipulators: a design procedure
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DOI：
10.1109/70.313108
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发表时间：
1994-08
期刊：
影响因子：
--
通讯作者：
R. Kelly;Ricardo Salgado
中科院分区：
文献类型：
--
作者：
R. Kelly;Ricardo Salgado
在本文中，我们提出了一个明确的设计过程中选择的比例和微分增益的PD控制与计算前馈的机器人操作器。所提出的程序，这是很容易得到的机器人动力学和期望的轨迹，确保闭环系统有一个唯一的平衡点。此外，这个均衡是（局部）指数稳定的。包括模拟测试，参考具有两个自由度的机器人。>
In the present paper, we propose an explicit design procedure for selecting the proportional and derivative gains of the PD control with computed feedforward of robot manipulators. The proposed procedure, which is easily obtained from the robot dynamics and desired trajectory, assures that the closed-loop system has an unique equilibrium point. In addition, this equilibrium turns out to be (locally) exponentially stable. Simulation tests are included, with reference to a robot having two degrees of freedom. >