DynamicComputer Control of a Robot Leg

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

研究成果: Article同行評審

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)19-25
頁數7
期刊IEEE Transactions on Industrial Electronics
IE-32
發行號1
DOIs
出版狀態Published - 1985 2月

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電氣與電子工程

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