International Journal of Industrial Engineering and Management

Lorem ipsum dolor sit amet, consectetur adipisicing elit, sed do eiusmod tempor incididunt ut ero labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco.

GUIDE FOR AUTHORS SUBMIT MANUSCRIPT
Vol. 1 No. 1 (2010)
Original Research Article

PID Controller Design for A Nonlinear Motion Control Based on Modelling the Dynamics of Adept 550 Robot

Henry Zhang
Department of Mechanical Engineering Technology, Purdue University
Bio

Published 2010-03-30

abstract views: 9 // FULL TEXT ARTICLE (PDF): 0


Keywords

  • nonlinear motion control,
  • robot,
  • PID controller

How to Cite

Zhang, H. (2010). PID Controller Design for A Nonlinear Motion Control Based on Modelling the Dynamics of Adept 550 Robot. International Journal of Industrial Engineering and Management, 1(1), 19–27. https://doi.org/10.24867/IJIEM-2010-1-003

Abstract

The multiple link robot is a nonlinear system, in general whose characteristic polynomial is not unique, and whose control schemes depend on particular operating conditions. Among all kinds of controllers used for robot control, nearly 90% is PID controller in the industrial world, not only due to its simplicity and effectiveness, but also to its ability of coping with uncertainties and nonlinearities in the system. Since most of PID controllers are designed based on trial and error method for a black-box plant, for the precision motion control of a robot, it is more desirable to design the PID controller based on the mathematical model of the robot. This paper is dedicated to a PID controller design for a nonlinear motion control based on the mathematical modelling of the dynamics of Adept 550 Robot. The general relationships of the PID controller design on the robotic dynamics and the planned trajectory are derived. The analysis and simulations of its closed loop dynamics indicates its effectiveness in fast and accurate trajectory tracking. The results can be practically generalized to other cases of PID controller design for other robots in the industrial applications.

 

Article history: Received (21.05.2010); Revised (11.06.2010); Accepted (12.06.2010)  

PlumX Metrics

Dimensions Citation Metrics