A Modified Feed-Forward Compensated PD Controller Design and Simulation Comparison Based on Two-Link Manipulator

Ji Yan Wang; Xu Fei Si; Rong Chun Guo

doi:10.4028/www.scientific.net/AMR.482-484.1245

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 482-484A Modified Feed-Forward Compensated PD Controller...

A Modified Feed-Forward Compensated PD Controller Design and Simulation Comparison Based on Two-Link Manipulator

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.