DocumentCode
800662
Title
Dynamic Computer Control of a Robot Leg
Author
Orin, David E. ; Tsai, Chi-Keng ; Cheng, Fan-Tien
Author_Institution
Department of Electrical Engineering, Ohio State University, Columbus, OH 43210.
Issue
1
fYear
1985
Firstpage
19
Lastpage
25
Abstract
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.
Keywords
Computational modeling; Continuous time systems; Control systems; Equations; Feedback; Leg; Legged locomotion; Microcomputers; Motion control; Robot control;
fLanguage
English
Journal_Title
Industrial Electronics, IEEE Transactions on
Publisher
ieee
ISSN
0278-0046
Type
jour
DOI
10.1109/TIE.1985.350136
Filename
4158579
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