Title :
Experimental evaluation of real-time model-based control of a 3-DOF closed-chain direct-drive mechanism
Author :
Uecker, Darrin R. ; Wang, Yulun ; Kokkinis, Theodore
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA
Abstract :
The authors present results on the performance of a 3 d.o.f. closed-chain direct-drive mechanism controlled by a high-performance real-time computer using a variety of model-based control techniques. Experimental data are used to compare the tracking performance of the computed torque control method, the resolved acceleration control method, the inverse Jacobian control method, and the individual joint PID control method over a variety of trajectories. Implementation in real-time was possible since the 3D processor robot control system was able to perform all of the required kinematic, dynamic, and control computations at a sampling rate of under 2 ms. The results presented show that the model-based methods achieved two to four times better performance than the PID control method
Keywords :
real-time systems; robots; 3 d.o.f. closed-chain direct-drive mechanism; computed torque control; dynamics; high-performance real-time computer; individual joint PID control; inverse Jacobian control; kinematics; real-time model-based control; resolved acceleration control; Acceleration; Control systems; High performance computing; Jacobian matrices; Kinematics; Real time systems; Robot control; Three-term control; Torque control; Trajectory;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131896