Experimental evaluation of model-based controllers on a direct-drive robotarm

Authors
Reyes, F Kelly, R
Citation
F. Reyes et R. Kelly, Experimental evaluation of model-based controllers on a direct-drive robotarm, MECHATRONIC, 11(3), 2001, pp. 267-282
Citations number
34
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
MECHATRONICS
ISSN journal
09574158 → ACNP
Volume
11
Issue
3
Year of publication
2001
Pages
267 - 282
Database
ISI
SICI code
0957-4158(200104)11:3<267:EEOMCO>2.0.ZU;2-S
Abstract
This paper describes the experimental comparison among four model-based con trol algorithms on a direct-drive robotic arm. We present experimental resu lts of the following controllers: Computed-Torque control, PD + control, PD control with computed feedforward and PD control. All controllers include Coulomb and viscous friction compensation as well as cancellation of gravit ational torques. They are tested under common trajectory specification and performance index. (C) 2000 Elsevier Science Ltd. All rights reserved.