The first step in the creation of a robotic manipulator controller performance database has been completed. Experimental evaluation of the trajectory-tracking performance of a PUM-600 under computed-torque control has provided valuable engineering insight into the role of dynamics compensation for manipulators with high torque amplification drive systems. Experimental results validate the assumptions that Coriolis and centrifugal forces are negligible and actuator dynamics play a central role in manipulator dynamics. Without complete modeling of the drive-system dynamics, computed-torque trajectory-tracking accuracy was inadequate for gross motion control. It is concluded that more accurate representation of the real robot system dynamics is required for realistic simulation of modern control algorithms and improved real-time performance. >
['B Michael Leahy', 'Kimon P. Valavanis', 'George N. Saridis']
Evaluation of dynamic models for PUMA robot control