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Browse Conference Publications > Robotics and Automation, 2006 ... Help

Control of a prototype transmission-based robot servoactuator using real time application interface

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2 Author(s)
Zhou, R. ; MABE Univ., Tennessee Univ., Knoxville, TN ; Hamel, W.R.

This paper presents a PID control of a prototype transmission-based robot servo-actuator system (TBA) and its implementation using real time application interface (RTAI) under Linux. The PID control presented can achieve stability and performance requirement in terms of attenuation of disturbance due to gear shift. The control software has a real time multithread design. Verification test shows the new control software has a deterministic control loop time, and significant performance improvement is achieved compared with the implementation using Labview Express under Windows XP

Published in:
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference: 15-19 May 2006

Page(s):
375 - 380
ISSN :
1050-4729
Print ISBN:
0-7803-9505-0
INSPEC Accession Number:
9095519
Conference Location :
Orlando, FL
Digital Object Identifier :
10.1109/ROBOT.2006.1641740
Product Type:
Conference Publications

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