Dynamic compensation control algorithms can improve the performance of conventional industrial manipulators if an accurate dynamic model is available. Usually, the structure of the dynamic model is known but the actual values of the dynamic parameters are either unknown or not accurately known. It is thus required to perform an identification of these parameter using available algorithms. In this paper, feedforward model-based control is experimented on a conventional industrial robot, the SMART-3 6.12R by COMAU, based on a dynamic parameter identification. Despite the fact that the conditions for the experiments are far from those provided by research set-ups, the obtained results have confirmed that it is worth using feedforward compensation control, either in a complete or in a partial form, even on an industrial set-up.
Identification of dynamic parameters and feedforward control for a conventional industrial manipulator
CACCAVALE, Fabrizio;
1994-01-01
Abstract
Dynamic compensation control algorithms can improve the performance of conventional industrial manipulators if an accurate dynamic model is available. Usually, the structure of the dynamic model is known but the actual values of the dynamic parameters are either unknown or not accurately known. It is thus required to perform an identification of these parameter using available algorithms. In this paper, feedforward model-based control is experimented on a conventional industrial robot, the SMART-3 6.12R by COMAU, based on a dynamic parameter identification. Despite the fact that the conditions for the experiments are far from those provided by research set-ups, the obtained results have confirmed that it is worth using feedforward compensation control, either in a complete or in a partial form, even on an industrial set-up.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
