COMPUTER-CONTROL OF ROBOTIC MANIPULATORS USING PREDICTORS.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Model-based robot control algorithms require the online evaluation of robot dynamics, leading to hybrid continuous/discrete-time implementations. The performance of these fixed-gain control algorithms varies in the workspace and is not adequate for trajectory tracking. A coherent discrete-time framework for the analysis of model-based algorithms is presented, and predictors to compensate for modeling errors are introduced. The basic controller structure is not altered; an added supervisory module is proposed to monitor performance and adjust the command signal accordingly. Preliminary simulation experiments confirm that one-step-ahead predictors lead to a more uniform performance and are suitable for trajectory-tracking applications.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages204-209
Number of pages6
ISBN (Print)0818607610
Publication statusPublished - Jan 1 1987

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Tourassis, V. D. (1987). COMPUTER-CONTROL OF ROBOTIC MANIPULATORS USING PREDICTORS. In Unknown Host Publication Title (pp. 204-209). IEEE.