NDLI: Some experimental results on model-based control schemes

Content Provider	IEEE Xplore Digital Library
Author	Khosla, P.K.
Copyright Year	1988
Description	Author affiliation: Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA (Khosla, P.K.)
Abstract	An overview is presented to research on the analysis, synthesis, real-time implementation and performance evaluation of model-based manipulator control schemes. The schemes synthesize strategies that include a dynamical model of the manipulator in the feedback loop. Depending on the way that the dynamical model is incorporated, it is possible to create different types of control laws. For example, the computed-torque method utilizes the model is the feedback loop in order to both decouple and linearize the system. Independent joint controllers are then designed to achieve accurate trajectory tracking and to reject unknown external disturbances. The feedforward control scheme is another model-based control method and utilizes the dynamics model in the feedforward path. The idea is that the feedforward torques/forces provide gross signals and independent joint controllers provide the correcting control signals to reject disturbances that are unknown.
Starting Page	1380
Ending Page	1385
File Size	615594
Page Count	6
File Format	PDF
ISBN	0818608528
DOI	10.1109/ROBOT.1988.12260
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 Trajectory Sampling methods Feedback loop Computer architecture Torque control Hardware Performance analysis Microprocessors Friction
Content Type	Text
Resource Type	Article

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