Control PID con Anti-Vibracion de un Brazo Robotico (PID Anti-Vibration Control of a Robotic Arm)

Jose de Jesus Rubio (jrubioa@ipn.mx)1, Panuncio Cruz (panu_ver_1984@hotmail.com)1, Luis Alberto Paramo (paramo_lualb@hotmail.com)2, Jesus Alberto Meda (jesus.meda@gmail.com)2, Dante Mujica (dantemv@cenidet.edu.mx)3, Ramon Silva Ortigoza (rsilvao@ipn.mx)4


1Instituto Politecnico Nacional, ESIME Azcapotzalco, Seccion de Estudios de Posgrado e Investigacion
2Laboratorio de Vibraciones y Rotodinamica, ESIME Zacatenco, Instituto Politecnico Nacional
3Departamento en Ciencias de la Computacion, Centro Nacional de Investigacion y Desarrollo Tecnologico
4Departamento de Mecatronica, CIDETEC, Instituto Politecnico Nacional

This paper appears in: Revista IEEE América Latina

Publication Date: July 2016
Volume: 14,   Issue: 7 
ISSN: 1548-0992


Abstract:
The proportional derivative (PD) control is the most employed method in the trajectory tracking of industrial robots. In the PD control, the stability is guaranteed when its gains are very large; however, the tracking error does not decrease to zero when the vibration effects are considered. In this paper, a proportional integral derivative (PID) anti-vibration control is designed for decreasing the vibration effects in the displacements of a robotic manipulator. The semi-global asymptotic stability of the introduced strategy is assured.

Index Terms:
Vibration, PID control   


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