PROGRAMMING FOR A SYSTEM TO ASSIST IN THE CONTROL OF ROBOTS.

K. H. Chang; H. Funakubo; T. Dohi; T. Isomura; T. Komeda

PROGRAMMING FOR A SYSTEM TO ASSIST IN THE CONTROL OF ROBOTS.

K. H. Chang, H. Funakubo, T. Dohi, T. Isomura, T. Komeda

Department of Bioscience and Engineering

Research output: Contribution to conference › Paper

Abstract

In this paper, a systematic program is developed for a robot control assisting system. It can implement various control schemes in real time, such as dynamic control or adaptive control. This program is divided into three steps. Before controlling a robot, it can perform several experiment to determine driving transformation coefficients of actuators and damping coefficients of joints, etc. When actually controlling a robot, the control algorithm can be assembled from instructions defined within the system in order to implement a specific control approach. Finally, serial data results can be recorded to evaluate its effect. The robot controlled can have up to 7 degrees of freedom, and because of its flexibility, programs to implement various control methods with existing robots can be realized.

Original language	English
Pages	767-774
Number of pages	8
Publication status	Published - 1985 Dec 1

ASJC Scopus subject areas

Engineering(all)

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Chang, K. H., Funakubo, H., Dohi, T., Isomura, T., & Komeda, T. (1985). PROGRAMMING FOR A SYSTEM TO ASSIST IN THE CONTROL OF ROBOTS.. 767-774.

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