DocumentCode
1672717
Title
Automatic parameter tuning and its implementation for robot arms
Author
Chen, Yilong
Author_Institution
Gen. Motors Res. Lab., Warren, MI, USA
fYear
1988
Firstpage
691
Abstract
A computer package, AutoTune, is designed to automatically tune parameters of feedback compensators for robot arms to eliminate the need for time-consuming and labor-intensive manual tuning while maximizing the capability of robot arms. Simulation and real test results are given and show that this autotuning by learning package is robust and efficient. Some practical issues in the actual implementation are discussed
Keywords
compensation; control system analysis computing; feedback; robots; self-adjusting systems; software packages; AutoTune; feedback compensators; learning package; robot arms; self tuning; software package; Control systems; Feedback; Manipulators; Orbital robotics; PD control; Robotics and automation; Robots; Testing; Three-term control; Tuning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12139
Filename
12139
Link To Document