Nonlinear feedback method of robot control - A preliminary experimental studyThe nonlinear feedback method of robot control has been experimentally implemented on two PUMA 560 robot arms. The feasibility of the proposed controller, which was shown viable through simulation results earlier, is stressed. The servomechanism operates in task space, and the nonlinear feedback takes care of the necessary transformations to compute the necessary joint currents. A discussion is presented of the implementation with details of the experiments performed. The performance of the controller is encouraging but was limited to 100-Hz sampling frequency and to derived velocity information at the time of the experimentation. The setup of the lab, the software aspects, results, and the control hardware architecture that has recently been implemented are discussed.
Document ID
19910050634
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Tarn, T. J. (Washington Univ. Saint Louis, MO, United States)
Ganguly, S. (Washington Univ. Saint Louis, MO, United States)
Li, Z. (Washington University Saint Louis, MO, United States)