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Proceedings Paper

Real-Time Implementation And Evaluation Of Dynamic Control Algorithms For Industrial Manipulators
Author(s): D. S. Yoo; M. J. Chung; Z. Bien
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Paper Abstract

Recently various dynamic control algorithms for industrial manipulators have been proposed. However, computation time, modeling error, and torque type servo controller design prevented real-time implementation. As a result, most of performance evaluations of the dynamic control algorithms were carried out only by computer simulations. In this paper, we explore real-time implementation of dynamic control algorithms for industrial manipulators to show the feasibility and effectiveness of such algorithms. Experimental results indicate that computed torque technique and iterative learning control algorithms can be effectively applied to controlling industrial manipulators.

Paper Details

Date Published: 19 October 1987
PDF: 6 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942938
Show Author Affiliations
D. S. Yoo, KAIST (Korea)
M. J. Chung, KAIST (Korea)
Z. Bien, KAIST (Korea)

Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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