MANIPULATION
Simplified PID self-tuning controller for robotic manipulators
M. Farsi, J.W. Finch, Kevin Warwick, Spyros G. Tzafestaş, ΓΕΩΡΓΙΟΣ ΣΤΑΣΙΝΟΠΟΥΛΟΣ
- Year
- 1986
- Citations
- 8
Abstract
The paper describes a self-tuning adaptive PID controller suitable for use in the control of robotic manipulators. The scheme employs a simple recursive estimator which reduces the computational effort to an acceptable level for many applications in robotics.
Keywords
PID controllerControl theory (sociology)Control engineeringRobot manipulatorRoboticsComputer scienceEstimatorScheme (mathematics)Controller (irrigation)Simple (philosophy)
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