Information Technology Reference
In-Depth Information
Delay
unit
-
q
d
1
(
k
)
ω
1
(
k
)
q
1
(
k+
1)
q
2
(
k+
1)
FREN controller
[1] For Joint #1
(
q
1
)
+
-
ω
2
(
k
)
q
d
2
(
k
)
Mitsubishi PA-10
7-DOF
Velocity-mode operation
FREN controller
[2] For Joint #2
(
q
2
)
+
q
d
7
(
k
)
-
ω
7
(
k
)
q
7
(
k+
1)
FREN controller
[7] For Joint #7
(
q
7
)
+
β
qi
(
k
+1) for
i
=1, 2, …, 7.
Parameters
Adaptation
MUX
&
Delay
Fig. 1.
PA-10 FREN controllers configuration block diagram.
0.8
q
1
(k)
e
1
(k)
0.6
0.4
0.2
0
−0.2
−0.4
−0.6
−0.8
−1
0
2000
4000
6000
8000
10000
12000
14000
16000
18000
Time index (k)
Fig. 2.
PA-10 Tracking performance
q
1
(
k
)and
e
1
(
k
).
1
q
7
(k)
e
7
(k)
0.8
0.6
0.4
0.2
0
−0.2
−0.4
−0.6
−0.8
−1
0
2000
4000
6000
8000
10000
12000
14000
16000
18000
Time index (k)
Fig. 3.
PA-10 Tracking performance
q
7
(
k
)and
e
7
(
k
).
Search WWH ::
Custom Search