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)|
|Number of pages||4|
|State||Published - 1987|
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