Title :
Automatic parameter tuning and its implementation for robot arms
Author_Institution :
Gen. Motors Res. Lab., Warren, MI, USA
Abstract :
A computer package, AutoTune, is designed to automatically tune parameters of feedback compensators for robot arms to eliminate the need for time-consuming and labor-intensive manual tuning while maximizing the capability of robot arms. Simulation and real test results are given and show that this autotuning by learning package is robust and efficient. Some practical issues in the actual implementation are discussed
Keywords :
compensation; control system analysis computing; feedback; robots; self-adjusting systems; software packages; AutoTune; feedback compensators; learning package; robot arms; self tuning; software package; Control systems; Feedback; Manipulators; Orbital robotics; PD control; Robotics and automation; Robots; Testing; Three-term control; Tuning;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12139
