{"title":"Research on Robot Position Control Based on Improved PD algorithm","authors":"Gao Guoyou, Jiang Chunsheng, Chen Tao, Hui Chun, Wu Lina, Liang Zifan","doi":"10.1109/YAC.2019.8787668","DOIUrl":null,"url":null,"abstract":"This work aims to research mathematical properties of kinematic function for multi-joint robot, a Lyapunov function based method is presented to realize the robot joint angle control. Energy function is constructed based on the robot kinematic model and the stability of the PD controller is researched through invariant set theory, the simulation results prove that the control system has good dynamic performance according to step signal response.","PeriodicalId":6669,"journal":{"name":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":"28 1","pages":"437-439"},"PeriodicalIF":0.0000,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/YAC.2019.8787668","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This work aims to research mathematical properties of kinematic function for multi-joint robot, a Lyapunov function based method is presented to realize the robot joint angle control. Energy function is constructed based on the robot kinematic model and the stability of the PD controller is researched through invariant set theory, the simulation results prove that the control system has good dynamic performance according to step signal response.
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