Choosing Sampling Rates for Robot Control.
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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In previous research, the author experimentally implemented and evaluated the effect of dynamics compensation in model-based control algorithms. In this paper, he evaluates the effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a decoupled and linear model of the manipulator dynamics. The author discusses the design of controller gains for both the computed-torque and the independent joint control schemes and establishes a framework for comparing their trajectory tracking performance. The experiments show that within each scheme the trajectory tracking accuracy varies slightly with the change of the sampling rate. However, at low sampling rates the computed-torque scheme outperforms the independent joint control scheme. Based on experimental results, also conclusively established is the importance of high sampling rates as they result in an increased stiffness of the system.
- Machinery and Tools