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This paper presents the experimental results of the real-time performance of model-based control algorithms. We compare the computed-torque control scheme with the feedforward dynamics compensation scheme. The feedforward scheme compensates for the manipulator dynamics in the feedforward path while the computed-torque scheme uses the dynamics in the feedback loop for linearization and decoupling....
The CMU Direct Drive Arm II (DD II) is the second direct-drive arm designed and constructed at the Robotics Institute, Carnegie Mellon University. It is an electric 6 degree-of-freedom robot, in which all of the joints are of direct drive construction. Featuring high performance Samarium Cobalt magnet brushless DC motors and light weight aluminum construction, the robot has been designed to have a...
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