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Computer control of robotic manipulators using predictors

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Abstract

Model-based robot control algorithms require the on-line evaluation of robot dynamics, leading to hybrid continuous/discrete-time implementations. The performance of these fixed-gain control algorithms varies in the workspace and it is not adequate for trajectory-tracking. In this paper, we present a coherent discrete-time framework for the analysis of model-based algorithms and introduce predictors to compensate for modeling and discretization errors. The basic controller structure is not altered; an added supervisory module is proposed to monitor performance and adjust the command signal accordingly. The module injects a degree of adaptiveness in the controller and reduces the sensitivity of the design to unmodeled dynamics. Our preliminary simulation experiments confirm that one-step-ahead predictors lead to a more uniform performance and are suitable for trajectory-tracking applications.

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Authors and Affiliations

  1. Department of Electrical Engineering, University of Rochester, 14627, Rochester, NY, USA

    Vassilios D. Tourassis

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  1. Vassilios D. Tourassis
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Additional information

A preliminary version of this paper appeared in the Proceedings of the IEEE International Symposium on Intelligent Control, Philadelphia, Pennsylvania, 19–20 January 1987. Research supported in part by the National Science Foundation under Grant No. DMC-8707622.

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Tourassis, V.D. Computer control of robotic manipulators using predictors. J Intell Robot Syst 2, 261–275 (1989). https://doi.org/10.1007/BF00238692

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  • DOI: https://doi.org/10.1007/BF00238692

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