Title :
Experiments of feedforward control on a conventional industrial manipulator
Author :
Caccavale, Fabrizio ; Chiacchio, Pasquale
Author_Institution :
Dipartimento di Inf. e Sistemistica, Naples Univ., Italy
fDate :
29 June-1 July 1994
Abstract :
In this paper, feedforward model-based control is experimented with on a conventional industrial manipulator, the SMART-3 6.12R by COMAU. Despite of the fact that the conditions for the experiments are far from those provided by research set-ups, the obtained results confirm that it is worth using feedforward compensation control even on an industrial set-up.
Keywords :
compensation; feedforward; industrial manipulators; COMAU; SMART-3 6.12R; compensation control; conventional industrial manipulator; feedforward model-based control; Clothing industry; Electrical equipment industry; Error correction; Feedback; Friction; Industrial control; Industrial relations; Manipulator dynamics; Service robots; Torque control;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751896
