Abstract
An adaptive predictive control (APC) algorithm has been developed that utilizes a priori known information about the command signals for the desired trajectory and the system transfer function identified online to predict its response. A feedforward and a feedback compensator are included in the controller to maintain the desired closed loop characteristics. The APC was evaluated by simulation for a square-wave input and joint velocity commands obtained for straight-line and circular trajectories. The APC algorithm was tested online on all the six axes of a Cincinnati Milacron (T3-726) robot for a circular trajectory. The results of the studies are presented.
| Original language | English (US) |
|---|---|
| Pages | 173-176 |
| Number of pages | 4 |
| State | Published - 1987 |
| Externally published | Yes |
ASJC Scopus subject areas
- Engineering(all)