PID Track Following Control of a 7-DOF Manipulator Based on ADAMS

Xi Feng Liang; Ben Yang

doi:10.4028/www.scientific.net/AMR.317-319.694

Paper Titles

Research on Simulation and Modeling of Split Double-Rotor Motor Based on Indirect Vector Control
p.672

Enhancement of a Fault Measure for AMSs Using Probabilistic Timed Automata
p.681

Hybrid Force/Position Control Hardware System Design and Force Servo Control Realization
p.685

Design of Longitudinal Optimal Controller in Unmanned Helicopter Based on Genetic Algorithm
p.690

PID Track Following Control of a 7-DOF Manipulator Based on ADAMS
p.694

A 3-DOF Parallel Manipulator Based 5-Axis Parallel Kinematics Machine Tool
p.698

The Isolation and Structural Analysis of Compound Emulsifier
p.703

Optimal Sliding Mode Control for Linear Singualr System with Input and State Time-Delays
p.708

Research of Robust Adaptive Fuzzy Control in Manipulator
p.713

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 317-319PID Track Following Control of a 7-DOF Manipulator...

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.

You might also be interested in these eBooks

Equipment Manufacturing Technology and Automation

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 317-319)

Pages:

694-697

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.317-319.694

Citation:

Cite this paper

Online since:

August 2011

Authors:

Xi Feng Liang, Ben Yang

Keywords:

7 Degrees-of-Freedom (DOF) Manipulator, Adam, PID, Track Following

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Jinkun Liu: Robot Control System Design and MATLAB Simulation (Tsinghua University Press, China 2008), pp.1-2 (in Chinese)

Google Scholar

[2] Jing Li,Guodong Liu: Journal of Jiangnan University. Vol. 7 (2008), p.448 (in Chinese)

Google Scholar

[3] H. Seraji, K. Long: IEEE Transactions on Robotics and Automation. Vol. 9 (1993), p.125

Google Scholar

[4] Zixin Cai: Robotics(Tsinghua University Press, China 2000) (in Chinese)

Google Scholar

[5] Guoqiang Wang,Jinpin Zhang,Ruodin Ma: Virtual Prototype Technology and Practicability on ADAMS (Northwestern Polytechnical University Press, China 2002) (in Chinese)

Google Scholar

[6] Yuan ren,Guang Chen: Mechatronics. Vol. 6 (2009), pp.31-34 (in Chinese)

Google Scholar

[7] Hongfang Shen,Youlian Song: MACHINE DESIGN AND RESEARCH. Vol.21 (2005), pp.50-51 (in Chinese)

Google Scholar