Real-Time Implementation and Evaluation of Dynamic Control Algorithms for Industrial Manipulators

Recently, various dynamic control algorithms for industrial manipulators have been proposed. However, computation time, modeling error, and torque-type servo controller design prevented real-time implementation. As a result, most performance evaluations of the dynamic control algorithms were carried out by computer simulation. In this paper, we explore real-time implementation of various dynamic control algorithms, which use different levels of information of the dynamics of a robot system, to show the feasibility and effectiveness of such algorithms. For this purpose, the dynamic equations of a robot manipulator based on Lagrange mechanisms are derived and converted to the equivalent dynamics with respect to the actuator and finally added to the actuator dynamics. Hysteresis current controllers are used as the torque-type servo controller. Experimental results indicate that the computed torque and iterative learning control methods perform better than classical proportional-integral-derivative (PID) control and that these algorithms can be effectively applied to controlling industrial manipulators.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
1991-02
Language
ENG
Citation

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.38, no.1, pp.26 - 31

ISSN
0278-0046
URI
http://hdl.handle.net/10203/61363
Appears in Collection
EE-Journal Papers(저널논문)
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