Independent-joint Control of 5DOF Robotic Manipulators by Fractional-Order PI ν Controllers

Paolo Lino,Jana Kőnigsmarková,Guido Maione,Mihailo P. Lazarevic

2021 29th Mediterranean Conference on Control and Automation (MED)（2021）

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摘要

This paper describes a design procedure of fractional-order controllers for independent-joint control of a 5DOF robotic manipulator. The control scheme of each joint includes a double loop involving fractional-order PIν controllers for both position and speed control with feed-forward action. The design approach is general and consists in closed-form tuning formulas, which directly give...

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关键词

PI control,Trajectory tracking,Frequency-domain analysis,Simulation,Velocity control,End effectors,Trajectory

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