Hostname: page-component-78c5997874-mlc7c Total loading time: 0 Render date: 2024-11-06T04:49:29.493Z Has data issue: false hasContentIssue false

An application of real-time control systems to robotics

Published online by Cambridge University Press:  25 April 2001

Carmen Monroy
Affiliation:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO). [email protected]
Ricardo Campa
Affiliation:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO)
Rafael Kelly
Affiliation:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO)

Abstract

This paper illustrates basic concepts of real-time control systems through the application of a real-time single-processor computing environment for the control of a robotic arm. The paper describes elements for the selection of the real-time architecture, the control algorithm and the graphical user interface. The system provides an opportunity for users to verify the robot performance by changing on-line the controller parameters and the shape of the desired motion.

Type
Research Article
Copyright
2001 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)