I-PD Motion Control Scheme for Rigid Robotic Manipulators

Although the problem of controlling the motion of rigid robotic manipulators is a well-studied classical problem, a nouvelle method is presented in this article and demonstrated to have its own merits. This paper proposes a simple linear integral control scheme without gravity compensation. A PID co...

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Bibliographic Details
Published in:	2024 International Conference on Control, Automation and Diagnosis (ICCAD) pp. 1 - 5
Main Authors:	Sharabati, Mahmoud A., Ahmad, Ahmad, Khalaf, Islam M. Abu, Tahboub, Karim A.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 15-05-2024
Subjects:	Benchmark testing Computational modeling Manipulators Motion planning nonlinear control Robot motion Robot motion control state feedback with integral control Tracking Tracking loops
Online Access:	Get full text
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Summary:	Although the problem of controlling the motion of rigid robotic manipulators is a well-studied classical problem, a nouvelle method is presented in this article and demonstrated to have its own merits. This paper proposes a simple linear integral control scheme without gravity compensation. A PID controller is split into two parts: integral in the outer loop that works on the tracking error and a PD in the inner loop for stabilization and pole placement. A simulation study is performed to compare the performance of different existing methods with the proposed scheme. For this, the PUMA-560 manipulator arm is selected and a motion benchmark is designed. MATLAB/SIMULINK results show that the performance of the proposed method is comparable to that of inverse-dynamics method with the advantage of not having to compute the model online.
ISSN:	2767-9896
DOI:	10.1109/ICCAD60883.2024.10553708