PID Control of DC Actuators. Consideration to Energy Robotic Design

被引：0

作者：

Garcia-Chica, Antonio ^{[1
]}

-Moreno, Jose L. Torres ^{[1
]}

Gimenez, Antonio ^{[1
]}

机构：

[1] Univ Almeria CIESOL, Dpto Ingn, Almeria 04120, Spain

来源：

IFAC PAPERSONLINE | 2024年 / 58卷 / 07期

关键词：

Application of mechatronic principles; Mechatronic systems; Modeling; Motion Control Systems; Robots manipulators;

D O I：

10.1016/j.ifacol.2024.08.071

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This works proposes a robot control architecture combining a PID position controller and a PI current controller, which is experimentally validated by using a tested including a DC motor and a high inertia load. Once the architecture is validated, it is used to address a performance comparison between series robots and parallel robots for a given task. In view of the obtained results, it is shown that the parallel configuration may lead to considerable energy savings with respect to the serial configuration.

引用

页码：258 / 262

页数：5

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