Abstract：This paper describes the experimental study of various control algorithms of D.D.robot for tra-jectory tracking.At first we constructed a parallel controller using transputer for the purpose of accomplish-ing a large amount of calculation.With this parallel controller we have tested feedforward,computed torque,sliding mode and adaptive control algorithms on our D.D.robot.At the end comparison results are given.
[1] 朱文宏.直接驭动机器人的高精度CP控制.西安交通大学博士论文,1991. [2] Fatench H,David A F.Tranaputer-based Implementation of Realtime Robot Position Control.Microprocessors and Microayatema,1989,13(10),644-652. [3] Hashimoto K et al.An Implementation Parallel Algorithm for Real-time Model-based Control on a Network of Microprocesaora.The Int 1 of Robotics Research,1990,9(6):37-47. [4] Khosla P K,Kanade T.Real-time Implementation and Evaluation of Computed-torque Scheme.IEEE Trans on Robotics and Automation,1989,5(2). [5] 冯祖仁.快速高精度机器人运动控制的研究.西安交通大学博士论文,1987.
