A systematic tunning method of PID controller for robot manipulators

  • Xiaoou Li, Wen Yu
  • Published 2011 in
    2011 9th IEEE International Conference on Control…


This paper addresses the iterative tuning method of PID control for the robot manipulator based on the responses of the closed loop system. Several properties of the robot control are used, such as any PD control can stabilize a robot in regulation case, the colsed-loop system of PID control can be approximated by a linear system, and the control torque to… (More)
DOI: 10.1109/ICCA.2011.6138081


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