MANIPULATION
On-line tuning of a multivariable PID-controller for robot manipulators
H.N. Koivo, J. Sorvari
- Year
- 1985
- Citations
- 13
Abstract
A multivariable self-tuning PID (SPID) controller is introduced to robot manipulator control. The control structure is simple, eliminates interactions quite well, and is easy to implement.
Keywords
Multivariable calculusPID controllerControl theory (sociology)Control engineeringController (irrigation)RobotComputer scienceSimple (philosophy)Line (geometry)Manipulator (device)
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