Paper Title:
PID Track Following Control of a 7-DOF Manipulator Based on ADAMS
  Abstract

This paper presents a novel approach of the track following control for a 7 degrees-of-freedom (DOF) manipulator by ADAMS, which is to solve the accurate transfer function being hard to set up. The simulation results show that the 7-DOF manipulator has better tracking performance by proportional-integral-derivative (PID) control when the moving rate of the end-effector is 215mm/s. In addition, the virtual prototype established in ADAMS can replace the traditional transfer function as the controlled plant of track following control system. Using the parametric design and optimization analysis in ADAMS, we can find the plausible control parameters more quickly.

  Info
Periodical
Advanced Materials Research (Volumes 317-319)
Chapter
Industrial Robotics and Automation
Edited by
Xin Chen
Pages
694-697
DOI
10.4028/www.scientific.net/AMR.317-319.694
Citation
X. F. Liang, B. Yang, "PID Track Following Control of a 7-DOF Manipulator Based on ADAMS", Advanced Materials Research, Vols. 317-319, pp. 694-697, 2011
Online since
August 2011
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Price
$32.00
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