Modeling and PID Control of Constrained Robot with Kinematic Uncertainty

Abstract This paper investigates a model-based method for robot manipulator control by describing the kinematics and dynamics of constrained robot when contacting a dynamic environment. This modeling method is suitable for hybrid control laws. The simulation results obtained from the PID regulators are presented. Those results suggest that, in practice, fixed PID parameters may not perform well because of the strong nonlinearity of the system and the uncertainty from outside. This will lead to further modified PID methods such as a fuzzy logic self-turning PID controller.

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