Model-based control of a direct drive arm. II. Control

For pt.I see ibid., p.1374-9 (1988). Work on model-based control with the MIT Serial Link Direct Drive Arm is described. It is shown that model-based control leads to performance superior to control not based on carefully constructed models. Trajectory control, trajectory learning, and force control are treated. A new type of trajectory learning is considered in which a robot fine-tunes one particular trajectory through repetition. Various experiments with the direct drive arm are reported to validate the importance of model-based control.<<ETX>>

[1]  Daniel E. Whitney,et al.  Historical Perspective and State of the Art in Robot Force Control , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[2]  Christopher G. Atkeson,et al.  Robot trajectory learning through practice , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[4]  John M. Hollerbach,et al.  Dynamic Stability Issues in Force Control of Manipulators , 1987, 1987 American Control Conference.

[5]  Christopher G. Atkeson,et al.  Model-based control of a direct drive arm. I. Building models , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[6]  Suguru Arimoto,et al.  Bettering operation of Robots by learning , 1984, J. Field Robotics.

[7]  A. Liégeois,et al.  Model reference control of high-velocity industrial robots , 1980 .

[8]  Matthew T. Mason,et al.  Compliance and Force Control for Computer Controlled Manipulators , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[9]  Christopher G. Atkeson,et al.  Experimental evaluation of feedforward and computed torque control , 1987, IEEE Trans. Robotics Autom..

[10]  J. Salisbury,et al.  Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[11]  J. Y. S. Luh,et al.  Resolved-acceleration control of mechanical manipulators , 1980 .

[12]  Richard Paul Collins Paul,et al.  Modelling, trajectory calculation and servoing of a computer controlled arm , 1972 .