Part III: 6-DOF Manipulator Control 1
Last Updated on Friday, 28 October 2011 13:02 Written by Administrator Thursday, 17 June 2010 07:41
Independent Joint Control
•Gain Tuning
+ P = [500 500 100 10 10 10]
+ I = [50 50 5 10 10 10]
+ D = [30 30 20 5 5 5]
•Trajectory: [0 0 0 0 0 0] to [pi pi/2 -pi/2 pi/4 pi/4 pi], t= 3s
Trajectory Planning (using Quintic Polynominal )
Trajectory & Response of qi
Feedforward Control
•Trajectory: [0 0 0 0 0 0] to [pi pi/2 -pi/2 pi/4 pi/4 pi], t= 3s
•Gain Tuning
+ P = [200 200 20 5 5 3]
+ I = [10 10 5 2 3 1]
+ D = [50 30 10 2 1 1]
Trajectory & Response of qi
Video
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