Module 9
: Robot Dynamics & controls
Lecture 33
: Actuator dynamics and PD, PID control for robots.
PROPORTIONAL & DERIVATIVE CONTROL
:
ROBOT & ACTUATOR DYNAMICS EQN
.
Let control
Where
,
are the proportional and derivative gains.
Taking Laplace transform & substituting for Control law
Where
is the closed loop characteristic polynomial
Block diagram
Figure 33.4
Closed loop system with PD control
The closed loop system will be stable for all positive value of
and
and bounded disturbances.
Contd...
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is the closed loop characteristic
polynomial 
