Experimental study of model based motion control for a 6 D.O.F. industrial manipulator

摘要

The performance indices of the model based motion control are experimentally investigated for a 6 D.O.F. industrial manipulator. Adopting the standardization compensators both in the joint space and the task space, a trajectory control for each direction is examined to evaluate the accuracy and decoupling indices of the model based controls. The frequency response for each direction is also investigated by the spectrum analysis of the step response.