Industrial manipulator control with feedforward dynamic compensation

Author

Leahy, M.B., Jr.

Author_Institution

Dept. of Electr. & Comput. Eng., Air Force Inst. of Technol., Wright Patterson AFB, OH, USA

fYear

1988

fDate

7-9 Dec 1988

Firstpage

598

Abstract

The feasibility of implementing model-based control techniques on the existing hierarchical control architecture of industrial manipulators has been evaluated experimentally. Three critical issues are addressed: the impact of stiffer PD (proportional-derivative) loops on the performance of model-based controllers with incomplete dynamic compensation in the feedforward loop, the performance degradation produced by asynchronous calculation of feedforward and feedback compensation torques, and the PD loop gain payload adaption requirements. It is concluded that a constant-gain PD feedback with an asynchronous feedforward compensation algorithm outperforms conventional controllers and could be implemented on existing control structures without hardware modifications

Keywords

compensation; feedback; hierarchical systems; industrial robots; PD loop; feedback compensation; feedforward dynamic compensation; hierarchical systems; model-based control techniques; performance degradation; Degradation; Feedback loop; Hardware; Industrial control; Manipulator dynamics; PD control; Payloads; Performance gain; Proportional control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1988., Proceedings of the 27th IEEE Conference on

Conference_Location

Austin, TX

Type

conf

DOI

10.1109/CDC.1988.194380

Filename

194380