Paper Title:
A Modified Feed-Forward Compensated PD Controller Design and Simulation Comparison Based on Two-Link Manipulator
| Periodical | Advanced Materials Research (Volumes 482 - 484) |
|---|---|
| Main Theme | Advanced Composite Materials |
| Edited by | Wenzhe Chen, Xingjun Liu, Pinqiang Dai, Yonglu Chen and Zhengyi Jiang |
| Pages | 1245-1248 |
| DOI | 10.4028/www.scientific.net/AMR.482-484.1245 |
| Citation | Ji Yan Wang et al., 2012, Advanced Materials Research, 482-484, 1245 |
| Online since | February, 2012 |
| Authors | Ji Yan Wang, Xu Fei Si, Rong Chun Guo |
| Keywords | ADAMS, Co-Simulation, MATLAB/Simulink, Modified Feed-Forward Compensated PD Control, Two-Link Manipulator |
| Price | US$ 28,- |
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Abstract
For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A new modified feed-forward compensation PD controller is introduced to optimize the stability and convergence of traditional PD controller for industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a modified feed-forward compensation PD controller based on two-link manipulator model and completes track control trial. Through result comparison and analysis, the superiority of the new modified PD controller for two-link manipulator is verified.
