Real-Time Implementation And Evaluation Of Dynamic Control Algorithms For Industrial Manipulators

D. S. Yoo; M. J. Chung; Z. Bien

doi:10.1117/12.942938

19 October 1987 Real-Time Implementation And Evaluation Of Dynamic Control Algorithms For Industrial Manipulators

D. S. Yoo, M. J. Chung, Z. Bien

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942938
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

Recently various dynamic control algorithms for industrial manipulators have been proposed. However, computation time, modeling error, and torque type servo controller design prevented real-time implementation. As a result, most of performance evaluations of the dynamic control algorithms were carried out only by computer simulations. In this paper, we explore real-time implementation of dynamic control algorithms for industrial manipulators to show the feasibility and effectiveness of such algorithms. Experimental results indicate that computed torque technique and iterative learning control algorithms can be effectively applied to controlling industrial manipulators.

Citation Download Citation

D. S. Yoo, M. J. Chung, and Z. Bien "Real-Time Implementation And Evaluation Of Dynamic Control Algorithms For Industrial Manipulators", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942938

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