DynamicComputer Control of a Robot Leg

David E. Orin; Chi Keng Tsai; Fan Tien Cheng

doi:10.1109/TIE.1985.350136

DynamicComputer Control of a Robot Leg

David E. Orin, Chi Keng Tsai, Fan Tien Cheng

Institute of Manufacturing Information and Systems

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

A dynamic control scheme for a three degree-of-freedom robot leg, which has been interfaced to a PDP-11/70 minicomputer, is developed and implemented. A CSMP (Continuous System Modeling Program) simulation is also used to study the dynamic characteristics of the leg off-line. The results of the work show that the dynamic equations of motion are valuable in robotic systems to develop an appropriate control scheme, to determine suitable ranges of feedback gains, and to be used on-line to generate a feed-forward control input.

Original language	English
Pages (from-to)	19-25
Number of pages	7
Journal	IEEE Transactions on Industrial Electronics
Volume	IE-32
Issue number	1
DOIs	https://doi.org/10.1109/TIE.1985.350136
Publication status	Published - 1985 Feb

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/TIE.1985.350136

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DynamicComputer Control of a Robot Leg

Abstract

All Science Journal Classification (ASJC) codes

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