Real-time implementation and evaluation of the computed-torque scheme
نویسندگان
چکیده
منابع مشابه
Real-Time Implementation and Evaluation of Computed-Torque Scheme
This paper presents the experimental results of the real-time performance of modelbased control algorithms. We compare the computed-torque scheme which utilizes the complete dynamics model of the manipulator with the independent joint control scheme which assumes a decoupled and linear model of the manipulator dynamics. The two manipulator control schemes have been implemented on the CMU DD Arm...
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عنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 5 شماره
صفحات -
تاریخ انتشار 1989