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

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

研究成果: Paper査読

抄録

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.

本文言語English
ページ767-774
ページ数8
出版ステータスPublished - 1985 12 1

ASJC Scopus subject areas

  • 工学(全般)

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