The Study of PD Control Gain Matrices for Robot Manipulators
碩士 === 國立臺灣科技大學 === 電機工程技術研究所 === 86 === 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...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
1997
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| Online Access: | http://ndltd.ncl.edu.tw/handle/23221880548826557682 |
| Summary: | 碩士 === 國立臺灣科技大學 === 電機工程技術研究所 === 86 === 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
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