Effect of Sampling Rates on the Performance of Model-Based Control Schemes
نویسندگان
چکیده
In our previous research, we experimentally implemented and evaluated the effect of dynamics compensation in modelbased control algorithms. In this paper, we evaluate the effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a decoupled and linear model of the manipulator dynamics. We discuss the design of controller gains for both the computedtorque and the independent joint control schemes and establish a framework for comparing their trajectory tracking performance. Our experiments show tha t within each scheme the trajectory tracking accuracy varies slightly with the change of the sampling rate. However, at low sampling rates the computed-torque scheme outperforms the independent joint control scheme.
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