NDLI: Unified force and motion control using an open system real-time architecture on a 7 DOF PA-10 robot

Content Provider	IEEE Xplore Digital Library
Author	Tao Ming Lim Qing Hua Xia Ang, M.H. Ser Yong Lim
Copyright Year	2005
Description	Author affiliation: Singapore Inst. of Manuf. Technol. (Tao Ming Lim)
Abstract	The operational space formulation provides a framework for the analysis and control of robotic systems with respect to interactions with their environments. Using the modified PA-10, we implemented unified force and motion control to achieve force and position tracking. Impact control algorithm has also been implemented to remove oscillation when the end-effector comes into contact with stiff environment. The control algorithm uses a PC to perform the required complex realtime computation. Coupled with the modification to the PA-10 controller, we are able to achieve high sampling rates with minimum communication latency which is crucial for our application. A software architecture was also developed which uses the concept of device drivers to achieve modularity in a realtime subsystem environment
Starting Page	1523
Ending Page	1528
File Size	344852
Page Count	6
File Format	PDF
ISBN	0780390474
DOI	10.1109/AIM.2005.1511227
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Motion control Open systems Real time systems Communication system control Orbital robotics Control system analysis Robot control Control systems Tracking
Content Type	Text
Resource Type	Article

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