Choosing sampling rates for robot control

摘要

In our previous research, we experimentally implemented and evaluated the effect of dynamics compensation in model-based 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 computed-torque and the independent joint control schemes and establish a framework for comparing their trajectory tracking performance. Our experiments show that 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. Based on our experimental results, we also conclusively establish the importance of high sampling rates as they result in an increased stiffness of the system.