Abstract
This works proposes a robot control architecture combining a PID position controller and a PI current controller, which is experimentally validated by using a tested including a DC motor and a high inertia load. Once the architecture is validated, it is used to address a performance comparison between series robots and parallel robots for a given task. In view of the obtained results, it is shown that the parallel configuration may lead to considerable energy savings with respect to the serial configuration.
Full Text
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call