Real-Time Implementation And Evaluation Of Dynamic Control Algorithms For Industrial Manipulators

19 October 1987

proceedings article
Published by SPIE-Intl Soc Optical Eng

Vol. 853, 26-31
https://doi.org/10.1117/12.942938

Abstract

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 of performance evaluations of the dynamic control algorithms were carried out only by computer simulations. In this paper, we explore real-time implementation of dynamic control algorithms for industrial manipulators to show the feasibility and effectiveness of such algorithms. Experimental results indicate that computed torque technique and iterative learning control algorithms can be effectively applied to controlling industrial manipulators.© (1987) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

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