文章基本信息

标题：Robust Tuning Rules for Series Elastic Actuator PID Cascade Controllers
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作者：Stefano Ghidini ; Manuel Beschi ; Nicola Pedrocchi 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：4
页码：220-225
DOI：10.1016/j.ifacol.2018.06.069
语种：English
出版社：Elsevier
摘要：AbstractThis paper deals with the control of a collaborative robot manipulator with series elastic actuators. In particular, robust tuning rules for cascade control of the joints are presented. Both the motor velocity and link position control loops are considered. The proposed tuning rules allow the online computation of robust control parameters to cope with the different link reflected inertia. Experimental results show the effectiveness of the method in real applications.
关键词：KeywordsCollaborative robotsSeries elastic actuatorRobust controlPIDTuning rules