TRAJECTORY PLANNING OF FIVE DOF MANIPULATOR: DYNAMIC FEED FORWARD CONTROLLER OVER COMPUTED TORQUE CONTROLLER

Abstract

Industrial robot control has been a challenge for decades especially for those manipulators which are assigned to work in hazardous environment. The DFF (Dynamic Feed-Forward) controller and the CTM (Computed-Torque Method) based controller, are generally used for dynamic control of industrial robots. This paper presents a comparison of the two controllers applied on a five DOF manipulator case study. To verify the design of the controllers, the dynamic models of the manipulator used in this work are developed in two different ways. Firstly, the model is designed through Newton-Euler method for real time computation. Secondly the model is designed through simulations using Matlab Sim-mechanics for evaluating the developed controller. The experimental setup depends on using both controllers with a five DOF educational manipulator. For data analysis, a comparison between the computed torque controller and the dynamic feed forward controller is held on the same system under same conditions. The results show the efficiency of using the dynamic feed forward controller over the computed torque controller as a basis for manipulators' trajectory planning.