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Real-time evaluation of robotic control methods

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3 Author(s)
Valavanis, K.P. ; Rensselaer Polytechnic Institute Troy, New York ; Leahy, M. ; Saridis, G.N.

Design modifications on the controller of the PUMA- 600 arm are required to apply modern control techniques in real-time. These modifications are performed on the computer-level and the joint control level of the PUMA controller. Real-time closed loop control of the arm is thus made possible. The paper compares the performance of various control algorithms in real-time and by simulation.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985