DynamicComputer Control of a Robot Leg

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

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)19-25
Number of pages7
JournalIEEE Transactions on Industrial Electronics
VolumeIE-32
Issue number1
DOIs
Publication statusPublished - 1985 Jan 1

Fingerprint

Robots
Feedforward control
Minicomputers
Degrees of freedom (mechanics)
Equations of motion
Robotics
Feedback

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Orin, David E. ; Tsai, Chi Keng ; Cheng, Fan-Tien. / DynamicComputer Control of a Robot Leg. In: IEEE Transactions on Industrial Electronics. 1985 ; Vol. IE-32, No. 1. pp. 19-25.
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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 journalArticle

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