A PD Robust Controller Design and Simulation Based on Two-Link Manipulator under Given Upper Bound Disturbance

Ji Yan Wang; Yu Xia Zhuang

doi:10.4028/www.scientific.net/AMR.503-504.1540

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A PD Robust Controller Design and Simulation Based on Two-Link Manipulator under Given Upper Bound Disturbance
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Research on Optimization of Filling Path Algorithm in Rapid Prototyping Technology
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 503-504A PD Robust Controller Design and Simulation Based...

A PD Robust Controller Design and Simulation Based on Two-Link Manipulator under Given Upper Bound Disturbance

Abstract:

For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A PD robust controller is introduced to optimize the stability and convergence of traditional PD controller and avoid excess initial driving torque for two-link industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a PD robust controller under given upper bound disturbance and completes track control and driving torque trial. Through result comparison and analysis, the superiority of the PD robust controller for two-link manipulator is verified.