New PID Controllers for Step Response of Robot Manipulators with an Uncertain Jacobian Matrix

摘要：

In framework of PID controllers, there is only three parameters available to tune, as a result, performance of the resulting system is always limited As for Cartesian regulation of robot manipulators with uncertain Jacobian matrix, a new scheme of PID controllers is proposed to improve performance for step response.Compare with the traditional PID controllers, a time-dependent integration is employ in this proposed controller to improve performance.

作者: HUANG Chunqing

作者单位: Department of Automation,Xiamen University,Xiamen,361005,CHINA

会议类型: 国际会议

会议名称: 2008 IEEE International Symposium on IT in Medicine and Education(2008信息技术在医学和教育中的应用国际研讨会)(ITME 2008)

会议地点: 厦门

会议语种:英文

页码: 1005-1010

在线出版日期: 2008-12-12（万方平台首次上网日期，不代表论文的发表时间）