Experimental Evaluation of the Feedforward Compensation and Computed-Torque Control Schemes

  title={Experimental Evaluation of the Feedforward Compensation and Computed-Torque Control Schemes},
  author={Pradeep K. Khosla and Takeo Kanade},
  journal={1986 American Control Conference},
This paper presents the experimental results of the real-time performance of model-based control algorithms. We compare the computed-torque control scheme with the feedforward dynamics compensation scheme. The feedforward scheme compensates for the manipulator dynamics in the feedforward path while the computed-torque scheme uses the dynamics in the feedback loop for linearization and decoupling. The manipulator control schemes have been implemented on the CMU DD Arm II with a sampling period… CONTINUE READING
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