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The International Journal of Robotics Research
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Compensation of Industrial Manipulator Dynamics

M.B. Leahy, JR

Department of Electrical and Computer Engineering Air Force Institute of Technology Wright-Patterson AFB Ohio

G.N. Saridis

Department of Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute Troy, New York

Experimental evaluations have demonstrated the effect of dynamic compensation on the trajectory tracking accuracy of industrial manipulators. High gear ratios reduce the compu tational complexity of the system dynamics but do not elimi nate the requirement for accurate modeling. For the PUMA-560 case study, the motor dynamics were experimen tally determined and combined with link dynamics to accu rately model the complete system. The impact from compen sating for specific manipulator dynamics by feedforward and computed-torque controllers was then experimentally deter mined. Feedforward dynamic compensation reduced the peak trajectory tracking errors of an independent joint Pro portional Derivative controller by a factor of three. The com bination of high sample rates and feedforward dynamic compensation produced a control algorithm with excellent peak and final error.

The International Journal of Robotics Research, Vol. 8, No. 4, 73-84 (1989)
DOI: 10.1177/027836498900800404
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