NDLI: Dynamics based control of vertically articulated manipulators

Content Provider	IEEE Xplore Digital Library
Author	Leahy Jr., M.B.
Copyright Year	1988
Description	Author affiliation: Dept. of Electr. & Comput. Eng., US Air Force Inst. of Technol., OH, USA (Leahy, M.B., Jr.)
Abstract	The relationship between tracking accuracy and the model used in dynamics-based control of a vertically articulated manipulator has been experimentally evaluated. High gear ratios reduce the payload sensitivity and computational complexity of the system dynamics but do not eliminate the performance enhancement from accurate compensation of dominant dynamics. Robot controllers must compensate for changes in dominant drive system, link, and payload dynamics to achieve high speed trajectory tracking accuracy. Feedforward dynamic compensation reduced the peak trajectory tracking errors of an independent-joint PD (proportional differential) controller by a factor of three. Knowledge of payload mass and centroid allowed feedforward dynamic compensation to overcome the disturbances produced by unmodeled payload dynamics. The combination of high sample rates, constant PD gains, and adaptive feedforward dynamic compensation produces a control algorithm with excellent payload independent, peak, and final error.
Starting Page	1048
Ending Page	1053
File Size	650107
Page Count	6
File Format	PDF
ISBN	0818608528
DOI	10.1109/ROBOT.1988.12199
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-04-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Payloads Trajectory Error correction Gears Computational complexity Robot sensing systems Robot control Control systems PD control
Content Type	Text
Resource Type	Article

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