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PID control of PUMA560 robot 1.0
File ID: 80412






PID control of PUMA560 robot 1.0
Download PID control of PUMA560 robot 1.0http://www.mathworks.comReport Error Link
License: Freeware
File Size: 10.0 KB
Downloads: 31
Submit Rating:
PID control of PUMA560 robot 1.0 Description
Description: The Dynamics of the robot are taken from:

Brian Armstrong, Oussama Khatib & Joel Burdick , d-deDUThe Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Armd-deDt , Stanford University, Artificial Intelligence Laboratory, IEEE 1986

Although Uncertainty is not added, adding uncertainty is easy (check the paper).

I couldn't find such a program in the internet, so I learned using the ODE function and I have written this program. It's opened for your advises.

I still have a small problem concerning the derivative and the integral error, perhaps I have to multiply and dicide by the time division.

License: Freeware

Related: Function, written, it039s, opened, learned, Internet, Check, paperi, couldn, Program, advisesi, multiply, dicide, division, Error, integral, Small

O/S:BSD, Linux, Solaris, Mac OS X

File Size: 10.0 KB

Downloads: 31



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