IDENTIFICATION OF DYNAMIC PARAMETERS AND FEEDFORWARD CONTROL FOR A CONVENTIONAL INDUSTRIAL MANIPULATOR

被引:38
作者
CACCAVALE, F
CHIACCHIO, P
机构
[1] Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, 80125 Napoli
关键词
IDENTIFICATION; ROBOTICS; DYNAMICS; MODELING; CONTROL;
D O I
10.1016/0967-0661(94)91626-8
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Dynamic compensation control algorithms can improve the performance of conventional industrial manipulators if an accurate dynamic model is available. Usually, the structure of the dynamic model is known but the actual values of the dynamic parameters are either unknown or not accurately known. It is thus required to perform an identification of these parameters using available algorithms. In this paper, feedforward model-based control is experimented on a conventional industrial robot, the SMART-3 6.12R by COMAU, based on a dynamic parameter identification. Despite the fact that the conditions for the experiments are far from those provided by research set-ups, the obtained results have confirmed that it is worth using feedforward compensation control, either in a complete or in a partial form, even on an industrial set-up.
引用
收藏
页码:1039 / 1050
页数:12
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