DYNAMIC CONTROL OF INDUSTRIAL ROBOTS.

Abstract

To improve the dynamic performance of industrial robots, a number of proposed control strategies have evolved. One of these that shows promise is dynamic control. Various single and multi-processor schemes are compared. A simplified single-processor, wrist-patitioned model is proposed. The complexity of the above schemes is evaluated with respect to controlling the Unimation PUMA 560 manipulator. Anomalies peculiar to the mechanical design of the 560 are presented, along with their effect on the generalised dynamic models. The dynamic characteristics of the PUMA manipulator have been examined. The results obtained suggest that the use of large computational resources, dedicated to completely modelling the manipulator for path tracking control, is not justified for most manipulators.