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A New Methodology for Designing PD Controllers

Published online by Cambridge University Press:  25 April 2001

Khaled R. Atia  and
M. P. Cartmell
Khaled R. Atia
Affiliation:
Department of Mechanical Engineering, University of Glasgow, G12 8QQ, Scotland (UK)
M. P. Cartmell
Affiliation:
Department of Mechanical Engineering, University of Glasgow, G12 8QQ, Scotland (UK)
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Abstract

It is known that it is impossible to select fixed gains for a PD controller that will critically damp the response to disturbances for all configurations of a given robot system. Because of this the potential for overshoot is always present and cannot be avoided unless the system is severely overdamped. This is not necessarily a practical solution and can be an economically unacceptable approach. On the other hand, however, if overshoot is permissible to some degree for some systems in the case of conventional Serial robots it is still prohibited in the case of Parallel robots as it may easily bring the robot to one of its possible singular configurations, causing damage to the system. This paper introduces a new algorithm for the design of PD controllers that ensures uniform and fast dynamic responses, which are free from overshoots for all robot configurations. The technique also satisfies general stability requirements for the system.

Keywords

Robot controlPD controllersOvershootSerial robotsParallel robotsRedundant-actuated parallel robots
Type
Research Article
Information
Robotica , Volume 19 , Issue 3 , May 2001 , pp. 267 - 273
Copyright
2001 Cambridge University Press

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