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A novel PID control parameters tuning approach for robot manipulators mounted on oscillatory bases

Published online by Cambridge University Press:  18 January 2007

J. Lin  and
Z.-Z. Huang
J. Lin*
Affiliation:
Department of Mechanical Engineering, Ching Yun University, 229, Chien-Hsin Road, Jung-Li City 320, Taiwan, R.O.C.
Z.-Z. Huang
Affiliation:
Department of Mechanical Engineering, Ching Yun University, 229, Chien-Hsin Road, Jung-Li City 320, Taiwan, R.O.C.
*
*Corresponding author. E-mail: jlin@cyu.edu.tw
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Summary

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This research focuses on the issue of dynamic modeling and controlling a robotic manipulator attached to a compliant base. Such a system is known under the name macro–micro system, characterized by the number of control actuators being less than the number of state variables. The equations of motion for a two-link planar elbow arm mounted on an oscillatory base has been presented in this investigation. In order to study the sensitivity of tuning the PID parameters to achieve the desired performance, the Grey relational analysis has first been proposed. Therefore, the aim of this work is to apply Grey theory to optimize parameters for partial states feedback of a PID controller for such a structure. The experimental results of the proposed methodology also show that it is technically and economically feasible to develop a low-cost, reliable, automatic, less time-consuming controller for robotics mounted on oscillatory bases.

Keywords

Compliant basePIDGrey theory

Information

Type
Article
Information
Robotica , Volume 25 , Issue 4 , July 2007 , pp. 467 - 477
Copyright
Copyright © Cambridge University Press 2007

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