The effects of computational delays on the model-based control of manipulators

Author

Anderson, J. ; Reed, B.

Author_Institution

Center for Manuf. Res., Tennessee Technol. Univ., Cookeville, TN, USA

fYear

1990

fDate

1-4 Apr 1990

Firstpage

103

Abstract

The effects of varying computational delays and sample frequencies on the dynamic performance of a 2-degree-of-freedom (DOF) manipulator and a 6-DOF PUMA 560 manipulator, both operating under model-based/proportional-derivative (PD) control, are investigated. A simplified analysis is used to demonstrate the destabilizing effects of delays in linear analog control systems. The imperfect cancellations caused by delays in a model-based control law are analyzed for the general case. Simulations of a two-link planar robot and the PUMA 560 manipulator demonstrate unstable behavior with various input trajectories. In all cases, instabilities occur over a wider range of delay times as the sample period increases

Keywords

control system analysis; delays; robots; stability; two-term control; PD control; PUMA 560; delays; manipulators; model-based control; stability; trajectories; two term control; two-link planar robot; Control systems; Delay effects; Frequency; Linear feedback control systems; Manipulator dynamics; Mathematical model; PD control; Position control; Robot kinematics; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Southeastcon '90. Proceedings., IEEE

Conference_Location

New Orleans, LA

Type

conf

DOI

10.1109/SECON.1990.117780

Filename

117780