Feed-Forward Compensated PD Controller and PD Robust Controller Simulation Comparison on Uncertain Single-Manipulator

Abstract:

2D rotary robotic manipulator is an ordinary mechanical structure of industrial robot. PD control is an ever-developing method for the dynamic characteristics controlling. By the co-simulation on ADAMS and Matlab/Simulink, the paper designs a feed-forward compensation PD controller and PD robust controller based on single-manipulator model and completes track and velocity control trial respectively. Through result comparison and analysis, the superiority of PD robust controller for uncertain single-manipulator is verified.

• Periodical: Advanced Materials Research (Volumes 490-495)
• Pages: 999-1003
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.490-495.999
• Online since: March 2012
• Authors: Ji Yan Wang, Tian Xu, Zheng Yin Ni
• Keywords: Feed-Forward Compensated PD Control, Manipulator, PD Robust Control, Uncertainty

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