{"title":"采用PID控制器和前馈补偿的机械臂速度/力混合控制","authors":"Pei-Chieh Chin, K. Waldron","doi":"10.1109/CCA.1993.348258","DOIUrl":null,"url":null,"abstract":"An effort has been made to use PID control technique and feedforward compensation to control robotic manipulators under a combined task of velocity and force. This approach is based on the assumption that the task configuration is homogeneous. However, the proposed scheme is still applicable for a nonhomogeneous task configuration with frictional forces being the only nonhomogeneous constraints. The controller proposed is applied to a planar 3R manipulator to demonstrate system responses and simulation results.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"43 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Hybrid velocity/force control of manipulators using PID controller and feedforward compensation\",\"authors\":\"Pei-Chieh Chin, K. Waldron\",\"doi\":\"10.1109/CCA.1993.348258\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An effort has been made to use PID control technique and feedforward compensation to control robotic manipulators under a combined task of velocity and force. This approach is based on the assumption that the task configuration is homogeneous. However, the proposed scheme is still applicable for a nonhomogeneous task configuration with frictional forces being the only nonhomogeneous constraints. The controller proposed is applied to a planar 3R manipulator to demonstrate system responses and simulation results.<<ETX>>\",\"PeriodicalId\":276779,\"journal\":{\"name\":\"Proceedings of IEEE International Conference on Control and Applications\",\"volume\":\"43 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-09-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE International Conference on Control and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCA.1993.348258\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE International Conference on Control and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1993.348258","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Hybrid velocity/force control of manipulators using PID controller and feedforward compensation
An effort has been made to use PID control technique and feedforward compensation to control robotic manipulators under a combined task of velocity and force. This approach is based on the assumption that the task configuration is homogeneous. However, the proposed scheme is still applicable for a nonhomogeneous task configuration with frictional forces being the only nonhomogeneous constraints. The controller proposed is applied to a planar 3R manipulator to demonstrate system responses and simulation results.<>
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