| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 721412 | IFAC Proceedings Volumes | 2009 | 6 Pages |
Abstract
A static anti-integrator-windup controller design method is proposed for anthropoid robot manipulators. The asymptotic stability is achieved using a simple static anti-windup gain matrix for set point position control with PI or PID controllers. The control performance is verified on a two-link robot arm with a gravity term by numerical simulations and experiments.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
