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
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;
Conference_Titel :
Robotics and Automation. Proceedings. 1985 IEEE International Conference on
DOI :
10.1109/ROBOT.1985.1087236
