Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators.
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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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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