Identification and model based control of a 6 DOF industrial manipulator

被引：0

作者：

Yasuho, T ^{[1
]}

Omaki, Y ^{[1
]}

Nampo, T ^{[1
]}

Mayeda, H ^{[1
]}

机构：

[1] Ritsumeikan Univ, Dept Robot, Shiga 52577, Japan

来源：

ROBOT CONTROL 1997, VOLS 1 AND 2 | 1998年

关键词：

model based control; identification of dynamic model; base parameters; closed-loop link mechanism; standardization pre-compensator;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Identification of a dynamic model and model based trajectory control based on the obtained model are experimented for a 6 D.O.F. manipulator with a closed-loop mechanism. in the identification the least square method and the instrumental variable method are examined and compared. Both of the trajectory controls by joint space and task space controls are examined and compared to a conventional PD control. Those results shows that the identification and model based control are practical and superior to the PD control.

引用

页码：111 / 117

页数：3

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