Model-based control of a direct drive arm. II. Control

摘要

For pt.I see ibid., p.1374-9 (1988). Work on model-based control with the MIT Serial Link Direct Drive Arm is described. It is shown that model-based control leads to performance superior to control not based on carefully constructed models. Trajectory control, trajectory learning, and force control are treated. A new type of trajectory learning is considered in which a robot fine-tunes one particular trajectory through repetition. Various experiments with the direct drive arm are reported to validate the importance of model-based control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>