Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators

Pradeep Khosla and Takeo Kanade
tech. report CMU-RI-TR-87-04, Robotics Institute, Carnegie Mellon University, March, 1987


Download
  • Adobe portable document format (pdf) (786KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}