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PID control of robot manipulators equipped with brushless DC motors

Published online by Cambridge University Press:  01 March 2009

V. M. Hernández-Guzmán ,
V. Santibáñez  and
R. Campa
V. M. Hernández-Guzmán*
Affiliation:
Universidad Autónoma de Querétaro, Facultad de Ingeniería, Apartado Postal 3-24, C.P. 76150, Querétaro, Qro., México
V. Santibáñez
Affiliation:
Instituto Tecnológico de la Laguna, División de Estudios de Posgrado e Investigación, Apartado Postal 49 Adm. 1, C.P. 27001, Torreón, Coahuila, México.
R. Campa
Affiliation:
Instituto Tecnológico de la Laguna, División de Estudios de Posgrado e Investigación, Apartado Postal 49 Adm. 1, C.P. 27001, Torreón, Coahuila, México.
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper is concerned with PID control of rigid robots equipped with brushless DC (BLDC) motors when the electric dynamics of these actuators is taken into account. We show that an adaptive PID controller yields global stability and global convergence to the desired link positions. Moreover, we also show that virtually the PID part of the controller suffices to achieve the reported global results. We present a theoretical justification for the torque control strategy, commonly used in practice to control BLDC motors. Our controller does not require the exact knowledge of neither robot nor actuator parameters.

Keywords

Robot controlBrushless DC motorsPID controlTorque control
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 225 - 233
Copyright
Copyright © Cambridge University Press 2008

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