The Anthropomorphic Robot Arm Joint Control Parameter Tuning Based on Ziegler Nichols PID

DOI

10.2991/icmeis-15.2015.27How to use a DOI?

Keywords

Anthropomorphic robot; Ziegler and Nichols parameter tuning; multi-joint control; Critical stable

Abstract

In order to get the anthropomorphic robot accurate parameters of the upper limb joint control motor, a method based on Ziegler Nichols-frequency response of the adaptive PID controller is proposed. The control circuit identifies online important critical frequency response characteristics of process object through input and output data in the normal process operation, and then the system online update PID controller parameters based on Ziegler-Nichols setting rules or by the improved method. The results show that the method has stronger robustness and adaptive ability. It can always guarantee control circuit run in the best condition and almost completely resistant to outside interference. The simulation is not only an important guiding role to the design of anthropomorphic robot hand control node, but also certain reference significance for the dc motor closed-loop control.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Renli Wang
AU  - Yueming Dai
PY  - 2015/08
DA  - 2015/08
TI  - The Anthropomorphic Robot Arm Joint Control Parameter Tuning Based on Ziegler Nichols PID
BT  - Proceedings of the 3rd International Conference on Mechanical Engineering and Intelligent Systems (ICMEIS 2015)
PB  - Atlantis Press
SP  - 136
EP  - 141
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmeis-15.2015.27
DO  - 10.2991/icmeis-15.2015.27
ID  - Wang2015/08
ER  -