Research on Control of Two Link Flexible Joint Manipulators with Improved PID Method

被引：5
|
作者：
Shu, Shuangbao [1 ]
Zhao, Houru [1 ]
Xi, Bangjian [1 ]
Yan, Jin [1 ]
机构：
[1] Hefei Univ Technol, Sch Instrument Sci & Optoelect Engn, Hefei, Peoples R China
来源：
2014 SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC), VOL 2 | 2014年
关键词：
SCARA; mechanical arm; Lagrangian method; PID control;
D O I：
10.1109/IHMSC.2014.132
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
To realize the tracking control of joint manipulator trajectory, an improved PID control method is presented in this paper. This paper also introduces the system structure of Selective Compliance Assembly Robot Arm (SCARA), and gives dynamic modeling of two link flexible joint manipulator in detail. By using Matlab/Simulink, and preparation of an S function based on the S-function module, the manipulator system can be simulated. The results of the simulation indicate that the modified PID control method is very effective for trajectory tracking control of mechanical arm.
引用
收藏
页码：121 / 124
页数：4
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