Arm manipulator position control based on Multi-Input Multi-Output PID strategy

• Autorzy: Baghli F. Z. , El Bakkali L. , Lakhal Y. , Nasri A. , Gasbaoui B.

Identyfikatory

DOI

10.14313/JAMRIS_2-2014/17

• Języki publikacji: EN

Abstrakty

EN

A robot manipulator is a multi-articulated mechanical system, in which each articulation is driven individually by an electric actuator. As the most used robot in industrial application, this system needs an efficient control strategy such as the classical PID control law by means of which each articulation is controlled independently. This kind of control presents a lot of inconvenient, such as error of each articulation isn’t taken account into others. In this work we present a Multi Input Multi Output (MIMO) PID controller to ensure the articulation robot control strategy, the results obtained present satisfactory and shows clearly the efficiency of the present PID-MIMO controller.

Słowa kluczowe

EN

robot; articulation; PID; control; MIMO

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2014
• Tom: Vol. 8, No. 2
• Strony: 36--39
• Opis fizyczny: Bibliogr. 13 poz., rys.

Twórcy

autor

Baghli F. Z.

• Laboratory Modeling and Simulation of Mechanical Systems, Abdelmalek Essaadi, Faculty of Sciences, BP.2121, M’hannech, 93002, Tétouan, Morocco

autor

El Bakkali L.

• Laboratory Modeling and Simulation of Mechanical Systems, Abdelmalek Essaadi, Faculty of Sciences, BP.2121, M’hannech, 93002, Tétouan, Morocco

autor

Lakhal Y.

• Laboratory Modeling and Simulation of Mechanical Systems, Abdelmalek Essaadi, Faculty of Sciences, BP.2121, M’hannech, 93002, Tétouan, Morocco

autor

Nasri A.

• Bechar University, B.P 417 Bechar , 08000, Algeria

autor

Gasbaoui B.

• Bechar University, B.P 417 Bechar , 08000, Algeria

Bibliografia

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