Dynamic Feedforward Control of Robot Manipulator: A HIL Simulation Study

The dynamic feedforward control aims to achieve fast tracking for robot manipulators based on the inverse dynamic model. It is essential to identify the model parameters with excitation trajectories. However, it is complex to test the dynamic feedforward control algorithm in physical devices. In this paper, a robot system based on Hardware-In-the-Loop (HIL) is presented to make a bridge between software simulation and hardware controller. It can be used for accelerating control algorithm verification. The HIL simulation results show that the feedforward control and proposed robot parameter identification are feasible to improve the robot tracking performance.