An application of real-time control systems to robotics

被引：4

作者：

Monroy, C ^{[1
]}

Campa, R ^{[1
]}

Kelly, R ^{[1
]}

机构：

[1] CICESE, Div Fis Aplicada, Ensenada 22800, Baja California, Mexico

来源：

ROBOTICA | 2001年 / 19卷 / 19期

关键词：

robot control; real-time control systems; graphical user interface; computed torque control;

D O I：

10.1017/S0263574700003167

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper illustrates basic concepts of real-time control systems through the application of a real-time single-processor computing environment for the control of a robotic arm. The paper describes elements for the selection of the real-time architecture, the control algorithm and the graphical user interface. The system provides an opportunity for users to verify the robot performance by changing on-line the controller parameters and the shape of the desired motion.

引用

页码：323 / 329

页数：7

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