No abstract

Tuning of robot joint controllers using iterative feedback tuning (IFT) is considered. Using a simulation model of a two-link robot arm the applicability of IFT is investigated for a nonlinear and multivariable system. Due to the strong crosscoupling between the two links a decoupling controller is needed in order to obtain satisfactory results. An approach for obtaining a decoupling controller is investigated. It is also shown how IFT can be used to tune the controller parameters for a particular trajectory of the arm.