TY - JOUR
T1 - DynamicComputer Control of a Robot Leg
AU - Orin, David E.
AU - Tsai, Chi Keng
AU - Cheng, Fan Tien
PY - 1985/2
Y1 - 1985/2
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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U2 - 10.1109/TIE.1985.350136
DO - 10.1109/TIE.1985.350136
M3 - Article
AN - SCOPUS:0022012365
SN - 0278-0046
VL - IE-32
SP - 19
EP - 25
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 1
ER -