제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A Robust PID Control Algorithm for a Servo Manipulator with Friction

  • Jin, Jae-Hyun (Remote Handling Technology Department, Korea Atomic Energy Research Institute) ;
  • Park, Byung-Suk (Remote Handling Technology Department, Korea Atomic Energy Research Institute) ;
  • Lee, Hyo-Jik (Remote Handling Technology Department, Korea Atomic Energy Research Institute) ;
  • Yoon, Ji-Sup (Remote Handling Technology Department, Korea Atomic Energy Research Institute)
  • Published : 2005.06.02
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a control algorithm for a servo manipulator is focused on. A servo manipulator system has been developed for remotely handling radioactive materials in a hot cell. It is driven by servo motors. The torque from a servo motor is transferred through a reducer to the corresponding axis. The PID control algorithm is a simple and effective algorithm for such application. However, since friction degrades the algorithm's performance, friction has to be considered and compensated. The major aberrations are the positional tracking errors and the limit cycle. The authors have considered a switching term to a conventional PID algorithm to reduce the friction's effect. It has been tested by a hardware test.

Keywords