Hostname: page-component-cd9895bd7-fscjk Total loading time: 0 Render date: 2024-12-19T00:21:57.273Z Has data issue: false hasContentIssue false
  • English
  • Français

Experimental comparison of decentralized controllers for industrial robots

Published online by Cambridge University Press:  01 November 1999

Antonio Visioli  and
Giovanni Legnani
Antonio Visioli
Affiliation:
Dipartimento di Elettronica per l'Automazione, University of Brescia, Via Branze, 38–25123 Brescia (Italy)[email protected]
Giovanni Legnani
Affiliation:
Dipartimento di Ingegneria Meccanica, University of Brescia, (Italy)[email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper we present an experimental comparison between different decentralized controllers for industrial robot manipulators. In spite of the fact that robot manipulators are highly nonlinear and coupled multivariable systems, decentralized controllers have been widely adopted in industrial environments for trajectory tracking, because of their simplicity and their fault tolerance feature. Different kinds of controllers have been investigated: the typical PID-based controller, a nonlinear three-term controller devised by Tarokh, and a variable structure control law, a discontinuous integral control, both in the continuous and in the discretised version. Allowances are made for the tuning of the parameters in order to obtain low tracking errors. Results show that better performances are obtained by controllers other than PID, especially by the discontinuous integral control, so that they appear to be particularly appropriate for the use in industrial robots.

Keywords

Robot manipulatorsRobot controlDecentralized controlPID controlVariable structure control
Type
Research Article
Information
Robotica , Volume 17 , Issue 6 , November 1999 , pp. 601 - 612
Copyright
© 1999 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)