Evaluation of dynamic models for PUMA robot control

Author

Leahy, M.B., Jr. ; Valavanis, K.P. ; Saridis, G.

Author_Institution

Dept. of Electr. & Comput. Eng., Wright-Patterson AFB, OH, USA

Volume

5

Issue

2

fYear

1989

fDate

4/1/1989 12:00:00 AM

Firstpage

242

Lastpage

245

Abstract

The first step in the creation of a robotic manipulator controller performance database has been completed. Experimental evaluation of the trajectory-tracking performance of a PUM-600 under computed-torque control has provided valuable engineering insight into the role of dynamics compensation for manipulators with high torque amplification drive systems. Experimental results validate the assumptions that Coriolis and centrifugal forces are negligible and actuator dynamics play a central role in manipulator dynamics. Without complete modeling of the drive-system dynamics, computed-torque trajectory-tracking accuracy was inadequate for gross motion control. It is concluded that more accurate representation of the real robot system dynamics is required for realistic simulation of modern control algorithms and improved real-time performance

Keywords

control engineering computing; dynamics; mechanical engineering computing; position control; robots; Coriolis forces; PUM-600; centrifugal forces; computed-torque control; control engineering computing; dynamics compensation; gross motion control; mechanical engineering computing; position control; robotic manipulator controller performance database; trajectory-tracking performance; Actuators; Computational modeling; Control systems; Databases; High performance computing; Manipulator dynamics; Motion control; Real time systems; Robot control; Torque control;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.88046

Filename

88046