Iterative Feedback Tuning Applied to Robot Joint Controllers
1999 (English)In: Proceedings of the 14th IFAC World Congress, 1999, Vol. I, 451-456 p.Conference paper (Refereed)
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
1999. Vol. I, 451-456 p.
Iterative methods, Robotic manipulators, Decoupling, Multivariable, Nonlinear
IdentifiersURN: urn:nbn:se:liu:diva-91119ISBN: 978-0080432137OAI: oai:DiVA.org:liu-91119DiVA: diva2:618451
14th IFAC World Congress, Beijing, China, July, 1999