Identification and Model Based Control of A 6 D.O.F. Industrial Manipulator

摘要

Identification of a dynamic model and model based trajectory control based on the obtained model are experimented for a 6 D.O.F. manipulator with a closed-loop mechanism. In the identification the least square method and the isntrumental variable method are examined and compared. Both of the trajectory controls by joint space and task space controls are examined and compared to a conventional PD control. Those results shows that the identification and model based control are practical and superior to the PD control.