Name
Abstract | ||
|---|---|---|
This paper presents the experimental results of the real-time performance of model-based control algorithms. We compare the computed-torque scheme which utilizes the complete dynamics model of the manipulator with the independent joint control scheme which assumes a decoupled and linear model of the manipulator dynamics. The two manipulator control schemes have been implemented on the CMU DD Arm II with a sampling period of 2 ms. Our initial investigation shows that the computed-torque scheme outperforms the independent joint control scheme as long as there is no torque saturation in the actuators. |
Year | DOI | Venue |
|---|---|---|
1986 | 10.1109/ROBOT.1986.1087410 | ICRA |
Keywords | Field | DocType |
actuators,linear model,real time,predictive models,computational modeling,sampling methods,friction,solid modeling,robot control | Robot control,Control algorithm,Torque,Control theory,Linear model,Simulation,Sampling (signal processing),Control engineering,Sampling (statistics),Solid modeling,Engineering,Actuator | Conference |
Volume | Issue | Citations |
3 | 1 | 18 |
PageRank | References | Authors |
9.66 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Khosla, P.K. | 1 | 931 | 123.84 |
| Takeo Kanade | 2 | 25073 | 4203.02 |