Parameter fine-tuning for robots

Abstract

Fine-tuning the parameters of robots is a time-consuming and costly procedure, so that many commercial robot companies cannot afford to do it and the physical capability of robots is not fully realized. Autotune, a computer procedure that automatically tunes parameters of feedback compensators for robot arms in order to circumvent manual tuning and maximize capability, is outlined. Simulation and test results show that this autotuning is robust and efficient. Some practical implementation issues are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>