The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

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. In this paper, we present the experimental results of the real-time performance of model-based control algorithms. We compare 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 11 with a sampling period of 2 ms.

Notes

Grant ID: #F33615-86-C-5-38

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Pradeep Khosla and Takeo Kanade, "Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators," tech. report CMU-RI-TR-87-04, Robotics Institute, Carnegie Mellon University, March, 1987

BibTeX Reference

@techreport{Khosla_1987_142,
   author = "Pradeep Khosla and Takeo Kanade",
   title = "Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators",
   booktitle = "",
   institution = "Robotics Institute",
   month = "March",
   year = "1987",
   number= "CMU-RI-TR-87-04",
   address= "Pittsburgh, PA",
}

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