Experimental evaluation of model-based controllers on a direct-drive robot arm

摘要

This paper describes the experimental comparison among four model-based control algorithms on a direct-drive robotic arm. We present experimental results of the following controllers: Computed-Torque control, PD + control, PD control with computed feedforward and PD control. All controllers include Coulomb and viscous friction compensation as well as cancellation of gravitational torques. They are tested under common trajectory specification and performance index.