By Topic

Experimental evaluation of real-time model-based control of a 3-DOF closed-chain direct-drive mechanism

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Uecker, D.R. ; Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA ; Yulun Wang ; Kokkinis, T.

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

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991