Departmental Papers (ESE)
Abstract
We investigate the computational needs of advanced real-time robot control. First, sampling rate issues in the control of nonlinear systems are discussed. Second, a representative nonlinear robot control algorithm using an explicit robot dynamical model is derived. Some typical terms of the exact equations are given for two industrial robot arms. Third, we define some performance criteria of interest in realtime control. Finally, we compare a variety of implementations of the above control algorithm on a network of INMOS Transputers.
Document Type
Conference Paper
Subject Area
GRASP, Kodlab
Date of this Version
October 1988
Date Posted: 11 July 2008
Comments
Accepted for Proceedings of the 1988 North American Transputer Users Group Meeting, October 1988.
NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.