DynamicComputer Control of a Robot Leg

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

研究成果: Article

2 引文 (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 二月

指紋

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

引用此文

Orin, David E. ; Tsai, Chi Keng ; Cheng, Fan Tien. / DynamicComputer Control of a Robot Leg. 於: IEEE Transactions on Industrial Electronics. 1985 ; 卷 IE-32, 編號 1. 頁 19-25.
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DynamicComputer Control of a Robot Leg. / Orin, David E.; Tsai, Chi Keng; Cheng, Fan Tien.

於: IEEE Transactions on Industrial Electronics, 卷 IE-32, 編號 1, 02.1985, p. 19-25.

研究成果: Article

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