Title :
Using the Newton simulation system as a testbed for control
Author :
Cremer, James F. ; Stewart, A. James
Author_Institution :
Dept. of Comput. Sci., Cornell Univ., NY, USA
Abstract :
The use of the Newton system for experimenting with the control of many-degrees-of-freedom articulated objects is described. Newton is a large general-purpose system for simulating the dynamics of complex physical objects. The system automatically formulates and analyzes the dynamics equations of motion for collections of bodies in a wide variety of constrained relationships. An experimental control paradigm is presented and applied to the balancing of a humanoid figure and the endpoint-control of redundant robot arm
Keywords :
digital simulation; position control; robots; Newton; control testbed; dynamics equations of motion; endpoint-control; humanoid figure balancing; many-DOF objects; many-degrees-of-freedom articulated objects; redundant robot arm; simulation system; Algorithm design and analysis; Automatic control; Computational modeling; Computer science; Equations; Mechanical systems; Prototypes; Robots; Solid modeling; System testing;
Conference_Titel :
Intelligent Control, 1988. Proceedings., IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-8186-2012-9
DOI :
10.1109/ISIC.1988.65465
