Dynamic Feedforward Control of Robot Manipulator: A HIL Simulation Study

被引：1
作者：
Hu, Rong [1 ]
Gu, Qiang [2 ]
Wang, Yusu [1 ]
Tian, Sijia [1 ]
Li, Ruige [1 ]
He, Dingxin [1 ]
机构：
[1] Huazhong Univ Sci & Technol, Wuhan, Peoples R China
[2] PS Micro, Wuhan, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
关键词：
robot manipulator; dynamic feedforward control; system identification; Hardware-in-the-Loop (HIL);
D O I：
10.1109/CAC51589.2020.9327627
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The dynamic feedforward control aims to achieve fast tracking for robot manipulators based on the inverse dynamic model. It is essential to identify the model parameters with excitation trajectories. However, it is complex to test the dynamic feedforward control algorithm in physical devices. In this paper, a robot system based on Hardware-In-the-Loop (IIIL) is presented to make a bridge between software simulation and hardware controller. It can be used for accelerating control algorithm verification. The HIL simulation results show that the feedforward control and proposed robot parameter identification are feasible to improve the robot tracking performance.
引用
收藏
页码：64 / 69
页数：6
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