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 | |
| Publication status | Published - 1985 Jan 1 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering
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DynamicComputer Control of a Robot Leg. / Orin, David E.; Tsai, Chi Keng; Cheng, Fan-Tien.
In: IEEE Transactions on Industrial Electronics, Vol. IE-32, No. 1, 01.01.1985, p. 19-25.Research output: Contribution to journal › Article
TY - JOUR
T1 - DynamicComputer Control of a Robot Leg
AU - Orin, David E.
AU - Tsai, Chi Keng
AU - Cheng, Fan-Tien
PY - 1985/1/1
Y1 - 1985/1/1
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=0022012365&partnerID=8YFLogxK
U2 - 10.1109/TIE.1985.350136
DO - 10.1109/TIE.1985.350136
M3 - Article
VL - IE-32
SP - 19
EP - 25
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 1
ER -