PID Track Following Control of a 7-DOF Manipulator Based on ADAMS
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.
X. F. Liang and B. Yang, "PID Track Following Control of a 7-DOF Manipulator Based on ADAMS", Advanced Materials Research, Vols. 317-319, pp. 694-697, 2011