Abstract
The feasibility of implementing model-based control techniques on the existing hierarchical control architecture of industrial manipulators has been evaluated experimentally. Three critical issues are addressed: the impact of stiffer PD (proportional-derivative) loops on the performance of model-based controllers with incomplete dynamic compensation in the feedforward loop, the performance degradation produced by asynchronous calculation of feedforward and feedback compensation torques, and the PD loop gain payload adaption requirements. It is concluded that a constant-gain PD feedback with an asynchronous feedforward compensation algorithm outperforms conventional controllers and could be implemented on existing control structures without hardware modifications. >
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