• DocumentCode
    2528768
  • Title

    Real-time evaluation of robotic control methods

  • Author

    Valavanis, Kimon P. ; Leahy, Michael B., Jr. ; Saridis, George N.

  • Author_Institution
    Rensselaer Polytechnic Institute Troy, New York
  • Volume
    2
  • fYear
    1985
  • fDate
    31107
  • Firstpage
    644
  • Lastpage
    649
  • Abstract
    Design modifications on the controller of the PUMA- 600 arm are required to apply modern control techniques in real-time. These modifications are performed on the computer-level and the joint control level of the PUMA controller. Real-time closed loop control of the arm is thus made possible. The paper compares the performance of various control algorithms in real-time and by simulation.
  • Keywords
    Actuators; Kinematics; Lagrangian functions; Linear feedback control systems; Manipulator dynamics; Open loop systems; Optimal control; Payloads; Robot control; Velocity control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1985 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBOT.1985.1087236
  • Filename
    1087236
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2528768