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An application of real-time control systems to robotics

Published online by Cambridge University Press:  25 April 2001

Carmen Monroy ,
Ricardo Campa  and
Rafael Kelly
Carmen Monroy
Affiliation:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO). rkelly@cicese.mx
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)
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Abstract

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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.

Keywords

Robot controlReal-time control systemsGraphical user interfaceComputed torque control
Type
Research Article
Information
Robotica , Volume 19 , Issue 3 , May 2001 , pp. 323 - 329
Copyright
2001 Cambridge University Press