PD and PID model-based control stability analysis of the PUMA-560 robot manipulator under model mismatch

Abstract

Abstract. The stability of the PUMA-560 robot manipulator is investigated under model mismatch using PD and PID controllers. Craig's quadratic half-plane constraint analysis is applied, and conditions are found in terms of calculated position and velocity error upper bounds to guarantee the stability of the robot arm under PD control. The theory is extended to guarantee stability under PID control using the modified positive quadratic space constraint analysis. Dynamic model mismatch is assumed to result from incomplete knowledge of the link masses, centers of mass and radii of gyration. The results indicate stability regions under different percentages of individual and combined parameter mismatch in the model.

Intelligent systems:

“…In [399] [405]. Useful practical problems were resolved for the cases of positioning the robot's arm [406]. Predictive controllers are used to improve performance of the standard collision avoidance tools [407], Predictive algorithms of planning are described in [926].…”

“…Stability of muscle-skeletal systems is analyzed in [624]. Analysis of the stability of a robot under model mismatched conditions is given in [625], Stability in a fuzzy controller is addressed in [626,937,938].…”