Improved computed torque control for industrial robotsThe authors examine the computed torque control problem for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators due to the dynamics introduced by the joint drive systems. The proposed approach overcomes this problem by combining a novel computed torque algorithm with simple torque controllers at each joint of the robot. The control scheme is applied to a seven degree-of-freedom industrial manipulator, and the system performance in standard tasks is evaluated using both dynamic simulation and actual experiments. The results show that the proposed controller leads to improved tracking performance over a conventional PD (proportional plus derivative) controller.
Document ID
19930051523
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Uebel, Mark (Hughes STX Corp. Lanham, MD, United States)
Minis, Ioannis (Maryland Univ. College Park, United States)
Cleary, Kevin (Hughes STX Corp. Lanham, MD, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 IEEE International Conference on Robotics and Automation, 8th, Nice, France, May 12-14, 1992, Proceedings. Vol. 1 (A93-35501 13-63)