Experimental evaluation of robot controllers

A.G. Jager, de, J.P.A. Banens

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

23 Citations (Scopus)
119 Downloads (Pure)

Abstract

In the last decade an abundance of control laws for nonlinear robotic systems was proposed. A careful evaluation of several classes of these controllers has been made, to overcome some drawbacks of previous evaluations. Experiments were done on a simple robotic system, with prismatic joints only and with low cost controller hardware. A flexible and effective real-time software environment, using object oriented programming techniques, was developed, easing the implementation and the evaluation of many control laws. The experience gained leads to the recommendation to develop as good a model as possible combined with adaptive control for tuning of the model parameters
Original languageEnglish
Title of host publicationProceedings of the 33rd IEEE conference on decision and control : December 14-16, 1994, Lake Buena Vista, Florida, USA. Vol. 1
Place of PublicationNew York, NY, USA
PublisherInstitute of Electrical and Electronics Engineers
Pages363-368
ISBN (Print)0780319680
DOIs
Publication statusPublished - 1994

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