Automatic parameter tuning and its implementation for robot arms

Abstract

A computer package, AutoTune, is designed to automatically tune parameters of feedback compensators for robot arms to eliminate the need for time-consuming and labor-intensive manual tuning while maximizing the capability of robot arms. Simulation and real test results are given and show that this autotuning by learning package is robust and efficient. Some practical issues in the actual implementation are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>