Iterative Feedback Tuning Applied to Robot Joint Controllers
1998 (English)Report (Other academic)
Tuning of robot joint controllers using iterative feedback tuning (IFT) is considered. Using a simulation model of a two-link robot arm the applicability of IFT is investigated for a nonlinear and multivariable system. Due to the strong crosscoupling between the two links a decoupling controller is needed in order to obtain satisfactory results. An approach for obtaining a decoupling controller is investigated. It is also shown how IFT can be used to tune the controller parameters for a particular trajectory of the arm.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 1998. , 7 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2087
Iterative methods, Robotic manipulators, Decoupling, Multivariable, Nonlinear
Maskinelement Servomekanismer Automation, Cybernetik Informationsteori
IdentifiersURN: urn:nbn:se:liu:diva-55662ISRN: LiTH-ISY-R-2087OAI: oai:DiVA.org:liu-55662DiVA: diva2:316411