A General Framework for Optimal Tuning of PID-like Controllers for Minimum Jerk Robotic Trajectories

The minimum jerk principle is commonly used for trajectory planning of robotic manipulators. However, since this principle is stated in terms of the robot’s kinematics, there is no guarantee that the joint controllers will actually track the planned acceleration and jerk profiles because the tuning...

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Bibliographic Details
Published in:	Journal of intelligent & robotic systems Vol. 99; no. 3-4; pp. 467 - 486
Main Authors:	Oliveira, Phelipe W., Barreto, Guilherme A., Thé, George A. P.
Format:	Journal Article
Language:	English
Published:	Dordrecht Springer Netherlands 01.09.2020 Springer Springer Nature B.V
Subjects:	Accuracy Algorithms Artificial Intelligence Control Control algorithms Controllers Electrical Engineering Engineering Kinematics Mathematical optimization Mechanical Engineering Mechatronics Optimization Particle swarm optimization Performance indices Proportional integral derivative Robot arms Robot dynamics Robot learning Robotics Robots Tracking Tracking control Trajectory planning Tuning Performance indices Fractional PID controller Minimum jerk principle Robot control Particle swarm optimization
ISSN:	0921-0296, 1573-0409
Online Access:	Get full text
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