The Study of PD Control Gain Matrices for Robot Manipulators

The Study of PD Control Gain Matrices for Robot Manipulators

Show other versions (1)

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...

Full description

Bibliographic Details
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/23221880548826557682
id ndltd-TW-086NTUST441004
record_format oai_dc
spelling ndltd-TW-086NTUST4410042015-10-13T17:30:24Z http://ndltd.ncl.edu.tw/handle/23221880548826557682 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 Ching-Long Shih 施慶隆 1997 學位論文 ; thesis 0 zh-TW
collection NDLTD
language zh-TW
format Others
sources NDLTD
description 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
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/23221880548826557682
work_keys_str_mv AT pochanping thestudyofpdcontrolgainmatricesforrobotmanipulators
AT báozhànpíng thestudyofpdcontrolgainmatricesforrobotmanipulators
AT pochanping jīxièbìpdkòngzhìqìzēngyìjǔzhènzhītàntǎo
AT báozhànpíng jīxièbìpdkòngzhìqìzēngyìjǔzhènzhītàntǎo
AT pochanping studyofpdcontrolgainmatricesforrobotmanipulators
AT báozhànpíng studyofpdcontrolgainmatricesforrobotmanipulators
_version_ 1717780437596635136

Similar Items