Experimental analysis of robot control: a performance standard for the PUMA-560

The tracking performance of a series of model-based control algorithms was evaluated experimentally, The model-based control issues of incomplete and/or asynchronous dynamic compensation, feedback, payload variation, and drive system interaction are analyzed. A model-based controller with complete k...

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Bibliographic Details
Main Author: Leahy, M.B.
Format: Conference Proceeding
Language:English
Subjects:
Feedback
Manipulator dynamics
Modems
Payloads
Performance analysis
Robot control
Robotics and automation
Sliding mode control
Standards development
Testing
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Summary:The tracking performance of a series of model-based control algorithms was evaluated experimentally, The model-based control issues of incomplete and/or asynchronous dynamic compensation, feedback, payload variation, and drive system interaction are analyzed. A model-based controller with complete knowledge of manipulator system dynamics and sliding mode feedback improved the tracking accuracy by a factor of five over feedback alone. The experimental results provide a baseline for a proposed standard trajectory and payload for evaluation of tracking accuracy for the first three links of the PUMA-560. A standard suite of trajectories and payloads will allow researchers to fairly compare the performance of their respective algorithms.< >
ISSN:2158-9860
2158-9879
DOI:10.1109/ISIC.1989.238684