Control of a prototype transmission-based robot servoactuator using real time application interface

Author

Zhou, Renbin ; Hamel, William R.

Author_Institution

MABE Univ., Tennessee Univ., Knoxville, TN

fYear

2006

fDate

15-19 May 2006

Firstpage

375

Lastpage

380

Abstract

This paper presents a PID control of a prototype transmission-based robot servo-actuator system (TBA) and its implementation using real time application interface (RTAI) under Linux. The PID control presented can achieve stability and performance requirement in terms of attenuation of disturbance due to gear shift. The control software has a real time multithread design. Verification test shows the new control software has a deterministic control loop time, and significant performance improvement is achieved compared with the implementation using Labview Express under Windows XP

Keywords

Linux; actuators; closed loop systems; computer interfaces; control engineering computing; nonlinear control systems; power transmission (mechanical); robots; servomechanisms; stability; three-term control; Labview Express; Linux; PID control; closed loop system; continuous dynamics; control software; discrete shift action; gear shift disturbance attenuation; nonlinear system; prototype transmission-based robot servoactuator; real time application interface; real time multithread design; Application software; Attenuation; Control systems; Linux; Prototypes; Real time systems; Robots; Software prototyping; Stability; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641740

Filename

1641740