Title :
Model-based control of a direct drive arm. II. Control
Author :
An, Chae H. ; Atkeson, Christopher G. ; Hollerbach, John M.
Author_Institution :
IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
Abstract :
For pt.I see ibid., p.1374-9 (1988). Work on model-based control with the MIT Serial Link Direct Drive Arm is described. It is shown that model-based control leads to performance superior to control not based on carefully constructed models. Trajectory control, trajectory learning, and force control are treated. A new type of trajectory learning is considered in which a robot fine-tunes one particular trajectory through repetition. Various experiments with the direct drive arm are reported to validate the importance of model-based control
Keywords :
force control; learning systems; position control; robots; MIT Serial Link Direct Drive Arm; direct drive arm; force control; model-based control; trajectory control; trajectory learning; Adaptive control; Artificial intelligence; Force control; Laboratories; Manipulator dynamics; PD control; Position control; Robot control; Stability; Torque control;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12261
