Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators.

Abstract

The manipulator trajectory tracking control problem revolves around computing the torques to be applied to achieve accurate tracking. While this problem has been extensively studied in simulations, the real-time results have been lacking in the robotics literature. This paper presents the experimental results of the real-time performance of model-based control algorithms. It compares 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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1987
Accession Number
ADA179449

Entities

People

  • Pradeep K. Khosla
  • Takeo Kanade

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Closed Loop Systems
  • Compensation
  • Computations
  • Control
  • Control Systems
  • Differential Equations
  • Dynamics
  • Equations
  • Errors
  • Feedback
  • Frequency Response
  • Joints
  • Manipulators
  • Sampling
  • Schematic Diagrams
  • Transfer Functions

Readers

  • Robotics and Automation.
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control