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articleOpen Access
Joint Position Control Based on Fractional-Order PD and PI Controllers for the Arm of the Humanoid Robot TEO
International Journal of Humanoid Robotics01 Dec 2019
Preview Abstract
This paper presents a control scheme for the humanoid robot TEO’s elbow joint based on a novel tuning method for fractional-order PD and PI controllers. Due to the graphical nature of the proposed method, a few basic operations are enough to tune the controllers, offering very competitive results compared to classic methods. The experiments show a robust performance of the system to mass changes at the tip of the humanoid arm.