Real-Time Implementation and Evaluation of Model-Based Controls on CMU DD Arm II
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1546 - 1554, April, 1986
Abstract
This paper presents the experimental results of the real-time performance of model-based control algorithms. We compare the computed-torque scheme which utilizes the complete dynamics model of the manipulator with the independent joint control scheme which assumes a decoupled and linear model of the manipulator dynamics. The two manipulator control schemes have been implemented on the CMU DD Arm II with a sampling period of 2 ms. Our initial investigation shows that the computed-torque scheme outperforms the independent joint control scheme as long as there is no torque saturation in the actuators.
BibTeX
@conference{Khosla-1986-15651,author = {Pradeep Khosla and Takeo Kanade},
title = {Real-Time Implementation and Evaluation of Model-Based Controls on CMU DD Arm II},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1986},
month = {April},
pages = {1546 - 1554},
}
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