EXPERIMENTAL STUDY AND COMPARISON OF D.D.ROBOT CONTROL ALGORITHMS

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.