An application of real-time control systems to robotics

Authors:
Carmen Monroy;Ricardo Campa;Rafael Kelly
Affiliations:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO). rkelly@cicese.mx;División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO);División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800 (MEXICO)
Venue:
Robotica
Year:
2001

Citing 4
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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.