Performance comparison of four manipulator servo schemes

Author

Tarn, T.J. ; Bejczy, A.K. ; Marth, G.T. ; Ramadorai, A.K.

Author_Institution

Washington Univ., St. Louis, MO, USA

Volume

13

Issue

1

fYear

1993

Firstpage

22

Lastpage

29

Abstract

Using experimental results on trajectory tracking performance of four servo schemes, a comparison is made of nonlinear task-level and joint-level servo schemes. Tracking performance is also compared for two other joint-level servo schemes: independent joint proportional-derivative (PD) control, and PD control with feedforward torque computations. These four algorithms are implemented on a six-degree-of-freedom PUMA 560 arm. Task planning was done in the six-dimensional task space of Cartesian position and an orientation representation corresponding to Unimation´s OAT convention. A reduced dynamic model was used and all schemes were compared at a servo rate of 185 Hz. The importance of the dynamical model in the control of the PUMA 560 manipulator is elicited. The effect of sampling rate on tracking performance is experimentally studied.<>

Keywords

manipulators; nonlinear control systems; position control; servomechanisms; two-term control; Cartesian position; PD control; PUMA 560 arm; Unimation´s OAT convention; dynamic model; joint-level; manipulator; nonlinear task-level; orientation; robots; servomechanisms; task planning; trajectory tracking; Intelligent control; Intelligent robots; Manipulator dynamics; Orbital robotics; PD control; Proportional control; Servomechanisms; Servosystems; Torque control; Trajectory;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.184789

Filename

184789