The Study of PD Control Gain Matrices for Robot Manipulators

The Study of PD Control Gain Matrices for Robot Manipulators

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碩士 === 國立台灣工業技術學院 === 電機工程技術研究所 === 85 === Most of industrial robots are controlled by either PD or PID controllers. Therefore, it is worth to study the characteristics of these controller.In this thesis, we study the differences between diagonal PD gain...

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Main Authors: PO, Chan - Ping, 薄占平
Other Authors: Ching-Long Shih
Format: Others
Language:zh-TW
Published: 1997
Online Access:http://ndltd.ncl.edu.tw/handle/38814276112068087121
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spelling ndltd-TW-085NTUST4410042016-07-01T04:15:47Z http://ndltd.ncl.edu.tw/handle/38814276112068087121 The Study of PD Control Gain Matrices for Robot Manipulators 機械臂PD控制器增益矩陣之探討 PO, Chan - Ping 薄占平 碩士 國立台灣工業技術學院 電機工程技術研究所 85 Most of industrial robots are controlled by either PD or PID controllers. Therefore, it is worth to study the characteristics of these controller.In this thesis, we study the differences between diagonal PD gain matrices and nondiagonal PD gain matrices for robot control under the system stabilityconditions. Then we provide an effective method to tune the gain matrices. The effectiveness of the proposed control algorithm is illustrated by a twodegree-of-freedom robot and a three-link planar manipulator. Ching-Long Shih 施慶隆 1997 學位論文 ; thesis 83 zh-TW
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language zh-TW
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description 碩士 === 國立台灣工業技術學院 === 電機工程技術研究所 === 85 === Most of industrial robots are controlled by either PD or PID controllers. Therefore, it is worth to study the characteristics of these controller.In this thesis, we study the differences between diagonal PD gain matrices and nondiagonal PD gain matrices for robot control under the system stabilityconditions. Then we provide an effective method to tune the gain matrices. The effectiveness of the proposed control algorithm is illustrated by a twodegree-of-freedom robot and a three-link planar manipulator.
author2 Ching-Long Shih
author_facet Ching-Long Shih
PO, Chan - Ping
薄占平
author PO, Chan - Ping
薄占平
spellingShingle PO, Chan - Ping
薄占平
The Study of PD Control Gain Matrices for Robot Manipulators
author_sort PO, Chan - Ping
title The Study of PD Control Gain Matrices for Robot Manipulators
title_short The Study of PD Control Gain Matrices for Robot Manipulators
title_full The Study of PD Control Gain Matrices for Robot Manipulators
title_fullStr The Study of PD Control Gain Matrices for Robot Manipulators
title_full_unstemmed The Study of PD Control Gain Matrices for Robot Manipulators
title_sort study of pd control gain matrices for robot manipulators
publishDate 1997
url http://ndltd.ncl.edu.tw/handle/38814276112068087121
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