2015
IMAACA 2015 Proceeding
Fractional order PI D controller: applied to control a manipulator robot wrist
Authors: Youcef Zennir, Adel Makhbouche
Abstract
The work presented in this paper focuses on the use of multi- controller approach to control a robot wrist (STÄUBLI robot RX 90). A description and a nonlinear Mathematical model of process have been presented along with the local parametric models around operating points. Due to the advantage of fractional order PID control compared to conventional PID, a Fractional order PID controller has been developed around each selected operating points for each local parametric models with the Oustaloup recursive approximation method (ORA) method are presented. at the end we present the results obtained in the different simulations with 3D simulation robot model developed in CAO solid Works software and some perspectives for future work.
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