Dual Mode PI Control for the Robot with Redundant Degree of Freedom

Abstract This paper describes a dual mode PI control system design for the starching work robot. From the features of this work, the robot has redundant degree of freedom. In this paper, we try to split the whole movement of the robot into a gross motion part and a fine motion part so as to achieve a good tracking performance. The gross motion part can move widely but slowly and roughly, on the contrary, the fine motion part can move sharply and finely but its movement range is narrow. The validlty of the dual mode PI control architecture is demonstrated.