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Recent Advances in Experimental Robot Control

  • Pradeep K. Khosla
Part of the NATO ASI Series book series (volume 57)

Abstract

The objective of this paper is to present an overview of our research on the analysis, synthesis, real-time implementation and performance evaluation of model-based manipulator control schemes. The model-based control schemes synthesize strategies that include a dynamical model of the manipulator in the feedback loop. Further, depending on the way that the dynamical model is incorporated, it is possible to create different types of control laws. For example, the computed-torque method (24) utilizes the model in the feedback loop in order to both decouple and linearize the system. Independent joint controllers are then designed to achieve accurate trajectory tracking and to reject unknown external disturbances. The feedforward control scheme is another model-based control method and utilizes the dynamics model in the feedforward path. The idea is that the feedforward torques/forces provide gross signals and independent joint controllers provide the correcting control signals to reject disturbances that are unknown.

Keywords

Trajectory Tracking Control Torque Inverse Dynamic Model Link Inertia Trajectory Tracking Error 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • Pradeep K. Khosla
    • 1
  1. 1.Department of Electrical and Computer EngineeringThe Robotics Institute, Carnegie Mellon UniversityPittsburghUSA

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