DocumentCode
486633
Title
Experimental Evaluation of the Feedforward Compensation and Computed-Torque Control Schemes
Author
Khosla, Pradeep K. ; Kanade, Takeo
Author_Institution
The Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA 15213
fYear
1986
fDate
18-20 June 1986
Firstpage
790
Lastpage
798
Abstract
This paper presents the experimental results of the real-time performance of model-based control algorithms. We compare the computed-torque control scheme with the feedforward dynamics compensation scheme. The feedforward scheme compensates for the manipulator dynamics in the feedforward path while the computed-torque scheme uses the dynamics in the feedback loop for linearization and decoupling. The manipulator control schemes have been implemented on the CMU DD Arm II with a sampling period of 2 ms.
Keywords
Acceleration; Accelerometers; Feedback loop; Linear feedback control systems; Manipulator dynamics; Robots; Sampling methods; Torque control; Trajectory; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1986
Conference_Location
Seattle, WA, USA
Type
conf
Filename
4789043
Link To Document