DocumentCode
335313
Title
Experiments of feedforward control on a conventional industrial manipulator
Author
Caccavale, Fabrizio ; Chiacchio, Pasquale
Author_Institution
Dipartimento di Inf. e Sistemistica, Naples Univ., Italy
Volume
1
fYear
1994
fDate
29 June-1 July 1994
Firstpage
1001
Abstract
In this paper, feedforward model-based control is experimented with on a conventional industrial manipulator, the SMART-3 6.12R by COMAU. Despite of the fact that the conditions for the experiments are far from those provided by research set-ups, the obtained results confirm that it is worth using feedforward compensation control even on an industrial set-up.
Keywords
compensation; feedforward; industrial manipulators; COMAU; SMART-3 6.12R; compensation control; conventional industrial manipulator; feedforward model-based control; Clothing industry; Electrical equipment industry; Error correction; Feedback; Friction; Industrial control; Industrial relations; Manipulator dynamics; Service robots; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.751896
Filename
751896
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