A New Approach to Robot Control
Robert M. Goor
- Vol. 22, Iss: 22, pp 387-389
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TLDR
A new control algorithm is proposed which entails smooth real time reference paths and an adaptive feedforward path-tracking algorithm which results in high accuracy independent of speed and load.Abstract:
State-of-the-art robots do not perform up to their physical speed or load capabilities. Currently, performance is limited by the form of control implemented, which gives rise to speed and load dependent errors and overshoots. In this paper, a new control algorithm is proposed which entails smooth real time reference paths and an adaptive feedforward path-tracking algorithm. The result is high accuracy independent of speed and load. With the trade-off between speed and accuracy eliminated, the full operational capabilities of the axis motors can be exploited. The utility of these principles is shown in a video tape demonstration of a new controller for a Unimation PUMA robot.read more
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Journal ArticleDOI
Experimental evaluation of feedforward and computed torque control
TL;DR: It was found that trajectory tracking errors decreased as more dynamic compensation terms were incorporated, and there was no significant difference in trajectory tracking performance between the feedforward controller using independent digital servos and the full computed torque controller.
Proceedings ArticleDOI
Robot trajectory learning through practice
TL;DR: An algorithm that uses trajectory following errors to improve a feedforward command to a robot and uses an inverse of the robot model as part of a learning operator which processes the trajectory errors.
Journal ArticleDOI
Robust Neural-Fuzzy-Network Control for Robot Manipulator Including Actuator Dynamics
Rong-Jong Wai,Po-Chen Chen +1 more
TL;DR: A robust neural-fuzzy-network control (RNFNC) system is investigated to the joint position control of an n-link robot manipulator for periodic motion and the merits of this model-free control scheme are that not only can the stable position tracking performance be guaranteed but also no prior system information and auxiliary control design are required in the control process.
Proceedings ArticleDOI
Experimental determination of the effect of feedforward control on trajectory tracking errors
TL;DR: It was found that trajectory tracking errors decreased as more feedforward terms were incorporated on the MIT Serial Link Direct Drive Arm.
Journal ArticleDOI
Robust design of independent joint controllers with experimentation on a high-speed parallel robot
TL;DR: A linear independent joint control scheme is proposed that is made robust by closing another feedback loop that uses acceleration information besides the typical position and velocity loops and implemented on a high-speed parallel robot.
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