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RoManSy 6 pp 488-495 | Cite as

Experimental Evaluation of Feedforward and Computed Torque Control

  • C. H. An
  • C. G. Atkeson
  • J. D. Griffiths
  • J. M. Hollerbach

Abstract

Trajectory tracking errors resulting from the application of various controllers have been experimentally determined on the MIT Serial Link Direct Drive Arm. The controllers range from simple analog PD control applied independently at each joint to feedforward and computed torque methods incorporating full dynamics. It was found that trajectory tracking errors decreased as more dynamic Compensation terms were incorporated. There was no significant difference in trajectory tracking performace between the feedforward controller using independent digital servos and the full computed torque controller.

Keywords

Joint Torque Inertial Parameter Feedforward Controller High Speed Movement Trajectory Error 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • C. H. An
    • 1
  • C. G. Atkeson
    • 1
  • J. D. Griffiths
    • 1
  • J. M. Hollerbach
    • 1
  1. 1.MIT Artificial Intelligence LaboratoryCambridgeUSA

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